Search Results - DWA algorithm
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Smooth Optimised A*-Guided DWA for Mobile Robot Path Planning
Published 2025-06-01Subjects: Get full textIn mobile robot path planning, the traditional A* algorithm suffers from high path redundancy and poor smoothness, while the Dynamic Window Approach (DWA) tends to deviate from the global optimal path and has low efficiency in avoiding dynamic obstacles when integrated with global path planning. To...
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An Improved DHA Star and ADA-DWA Fusion Algorithm for Robot Path Planning
Published 2025-06-01Subjects: Get full textThe advancement of mobile robot technology has made path planning a necessary condition for autonomous navigation, but traditional algorithms have issues with efficiency and reliability in dynamic and unstructured environments. This study proposes a Dynamic Hybrid A* (DHA*)–Adaptive Dynamic Window A...
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Multi-Strategy Fusion Path Planning Algorithm for Autonomous Surface Vessels with Dynamic Obstacles
Published 2025-07-01“…Consequently, this study introduces a path planning algorithm for autonomous surface vessels (ASVs) that integrates an improved fast marching method (FMM) with the dynamic window approach (DWA) for underactuated ASVs. …”Considering the complexity and variability inherent in maritime environments, path planning algorithms for navigation have consistently been a subject of intense research interest. Nonetheless, single-algorithm approaches often exhibit inherent limitations. Consequently, this study introduces a path...
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Path planning of unmanned ships based on A* and dynamic window approach
Published 2025-06-01“…To address the challenge of balancing global optimization, efficiency, and safety in path planning, a method that integrates global search and local optimization was proposed, based on the A* algorithm and the dynamic window approach (DWA). The A* algorithm computed the global shortest path in a static environment, while the improved DWA optimized local path obstacle avoidance between path nodes. …”The coastline raid task requires an unmanned surface ship to carry out precise, fixed-point raids in a complex coastal environment. The terrain of the coastal area is highly varied, with static obstacles such as reefs and shoals, as well as moving obstacles like floating objects at sea. Moreover, th...
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Path Planning of Underground Robots via Improved A* and Dynamic Window Approach
Published 2025-06-01“…To overcome these challenges, we propose an improved path planning algorithm integrating an enhanced A* method with an improved Dynamic Window Approach (DWA). …”This paper addresses the limitations of the A* algorithm in underground roadway path planning, such as proximity to roadway boundaries, intersection with obstacle corners, trajectory smoothness, and timely obstacle avoidance (e.g., fallen rocks, miners, and moving equipment). To overcome these chall...
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Navigation of the spraying robot in jujube orchard
Published 2025-07-01“…The robot's spraying path is designed using the A* and DWA algorithms, enabling specific path cruising for the spraying robot in the high concentration of orchards with jujube plants. …”This study presents a solution for achieving high-precision cruising along a predefined operational path to enable fully automated spraying in a densely planted jujube orchard. A fully autonomous navigation system for a jujube orchard spraying robot, based on a combination of LiDAR SLAM and IMU iner...
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ROS-Based Navigation and Obstacle Avoidance: A Study of Architectures, Methods, and Trends
Published 2025-07-01“…Nonetheless, achieving safe and reliable navigation in complex and dynamic environments remains a formidable challenge, due to the need for real-time perception of moving obstacles, sensor fusion requirements, and the demand for robust and efficient algorithms. This study presents a systematic examination of the ROS-based navigation stack and obstacle-avoidance mechanisms. …”With the widespread adoption of the Robot Operating System (ROS), technologies for autonomous navigation in mobile robots have advanced considerably. ROS provides a modular navigation stack that integrates essential components, such as SLAM, localisation, global path planning, and obstacle avoidance...
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Task-Driven Real-World Super-Resolution of Document Scans
Published 2025-07-01Get full textSingle-image super-resolution refers to the reconstruction of a high-resolution image from a single low-resolution observation. Although recent deep learning-based methods have demonstrated notable success on simulated datasets—with low-resolution images obtained by degrading and downsampling high-r...
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