Research on Fusion Fontrol Algorithm for ROS Intelligent Vehicle Path Planning
Gehua Feng, Hongfeng Zhu, Mengdan Yu, Jing Li Luo · 2025
With the rapid development of autonomous driving technology, the research and development of intelligent vehicles in path planning and control have become increasingly important. This study proposes an improved path planning fusion control algorithm based on the Robot Operating System (ROS) platform to enhance the navigation and obstacle avoidance capabilities of intelligent vehicles in complex environments. This algorithm combines the$\mathrm{A}^{*}$algorithm and dynamic window method (DWA), utilizing positional PID control and pure path tracking algorithm. By deeply integrating path planning and motion control, it effectively overcomes the limitations of traditional algorithms in dynamic obstacle avoidance and real-time performance. The experimental results show that the improved algorithm can complete path planning more quickly and accurately, significantly improving the driving stability and safety of intelligent vehicles in various environments. This study provides new ideas for autonomous navigation of intelligent vehicles.