基于DWA-A*融合算法与激光雷达的无人机动态避障方法研究

Research on UAV Dynamic Obstacle Avoidance Method Based on DWA-A* Fusion Algorithm and LiDAR

摘要: 在“双碳”目标的时代背景下，受人工智能技术推动，无人机技术取得突破性进展。经调研，现有无人机避障技术存在传感器易受干扰、路径规划效率低下以及能耗偏高等问题，这些问题制约了无人机在复杂场景中的应用潜能。基于此，本文提出一种融合激光雷达与DWA-A*算法的无人机动态避障系统。该系统借助激光雷达感知周围环境，运用A*算法开展全局路径规划，并采用DWA算法实现局部动态避障。多目标点场景的仿真结果显示，此系统能够在复杂场景中实现高效且稳定的障碍规避，有效减少了能耗，可以应用在工业、农业以及应急救援等领域。

Abstract: Against the backdrop of the “dual carbon” goals, drone technology has achieved breakthrough progress driven by artificial intelligence. Through research, it is found that existing drone obstacle avoidance technologies face issues such as sensor vulnerability to interference, low path planning efficiency, and high energy consumption, which restrict the application potential of drones in complex scenarios. Based on this, the paper proposes a dynamic obstacle avoidance system for drones integrating LiDAR and the DWA-A* algorithm. The system utilizes LiDAR to perceive the surrounding environment, employs the A* algorithm for global path planning, and adopts the DWA algorithm to achieve local dynamic obstacle avoidance. Simulation results in multi-waypoint scenarios demonstrate that the system can realize efficient and stable obstacle avoidance in complex environments, effectively reduce energy consumption, and be applied in fields such as industry, agriculture, and emergency rescue.