针对传统人工巡检效率低、风险高，及普通路径规划算法全局最优与动态避障矛盾的问题，本项目提出改进的 A与 DWA 融合算法。优化 A算法，优化权启发式函数和转向惩罚项；改进 DWA 算法，结合运动学模型与轨迹预测 。二者融合后，通过固定采样分辨率等策略，确保算法稳定性与可靠性。经 20m×20m 栅格地图 Matlab 仿真，改进算法成功率达 91.00%（提升 20%），平均转折度数降低 41.44°，规划速度提升 2.46%，为电气设备巡检自动化、智能化提供技术支撑。欢迎交流
☆29May 24, 2025Updated last year
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