# An Enhanced A*-DWA Fusion Algorithm for Robot Navigation in Complex Environments

## TL;DR

This paper introduces a new robot navigation algorithm combining improved A* and DWA methods to enable safe and efficient movement in complex environments.

## Contribution

A novel hybrid algorithm integrating enhanced A* and improved DWA for global and local robot navigation.

## Key findings

- The algorithm outperforms conventional methods in path length, smoothness, and safety in simulations.
- Physical tests on a LiDAR-equipped robot confirmed stable performance in real indoor environments.
- The method enables real-time obstacle avoidance and static path tracking in unpredictable settings.

## Abstract

To tackle the navigation challenge in dynamic and complex environments, this study designs a fusion planning framework that synergistically integrates enhanced A* algorithm with improved DWA, inspired by the biological dual-layer navigation mechanism of global path planning and local real-time obstacle avoidance. Firstly, the original global path from the conventional A* algorithm is smoothed and length-reduced through a three-stage optimization strategy involving redundant node removal and forward and reverse path relaxation, mimicking the behavioral logic of honeybees and desert ants that eliminate redundant routes to complete foraging and homing with minimal energy consumption. Secondly, an evaluation function integrating dynamic obstacle perception and adaptive weight adjustment is designed for the DWA to enhance the intelligence of local planning, drawing on the adaptive strategy of animals such as antelopes that adjust behavioral priorities according to environmental complexity to balance safety and efficiency. To comprehensively verify the performance of the proposed algorithm, simulation evaluations are performed in various scenarios, including 20 × 20 and 30 × 30 grid maps, with single and dual dynamic obstacles. Results demonstrate that our algorithm outperforms conventional methods in path length, smoothness, and safety. Further physical verification is carried out on a LiDAR-equipped mobile robot (Shenzhen Yuanchuangxing Technology Co., Ltd., Shenzhen, China) based on the ROS platform, confirming that the algorithm can stably achieve static path tracking and real-time obstacle avoidance in real indoor environments. Consequently, the developed hybrid algorithm delivers a viable and robust solution for autonomous mobile robots to navigate safely and efficiently in unpredictable and complex environments.