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<p>In traffic congestion and accident scenarios, ensuring that emergency vehicles can reach the scene quickly and safely is of paramount importance. This paper addresses the limitations of the traditional A* algorithm in dealing with redundant turns, path tortuosity and dynamic obstacles. To address these issues, a novel hybrid algorithm is proposed that integrates an improved A* algorithm with the Dynamic Window Approach (DWA) algorithm to optimise path planning for emergency vehicles.First, the algorithm accurately determines whether links between nodes cross obstacles, effectively eliminating invalid turns. This optimises the path information and increases the practicality and accuracy of the route. Next, the DWA algorithm is used for local dynamic path planning to avoid local obstacles. Finally, the enhanced A* algorithm is combined with the DWA algorithm to optimise the overall path planning for emergency vehicles.Experimental validation was carried out in several simulated environments. The results show that, compared to the traditional A* algorithm, the average runtime of the proposed algorithm is reduced by 13.14% in environments with only static obstacles and by 14% in environments with both static and dynamic obstacles, with the average path length reduced by 0.9% and the average runtime reduced by 0.63%. In random obstacle scenarios, the average path length is reduced by 2.3% and the average runtime is reduced by 0.26% compared to existing literature methods.</p>

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Integrated A* and DWA algorithms for emergency rescue path planning

  • 期刊论文

  • 发表日期：

    2025年10月17日

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  • Xingna Hou,
  • Yulan Zhao,
  • Jinshuo Zhang,
  • Shouhong Chen

摘要

In traffic congestion and accident scenarios, ensuring that emergency vehicles can reach the scene quickly and safely is of paramount importance. This paper addresses the limitations of the traditional A* algorithm in dealing with redundant turns, path tortuosity and dynamic obstacles. To address these issues, a novel hybrid algorithm is proposed that integrates an improved A* algorithm with the Dynamic Window Approach (DWA) algorithm to optimise path planning for emergency vehicles.First, the algorithm accurately determines whether links between nodes cross obstacles, effectively eliminating invalid turns. This optimises the path information and increases the practicality and accuracy of the route. Next, the DWA algorithm is used for local dynamic path planning to avoid local obstacles. Finally, the enhanced A* algorithm is combined with the DWA algorithm to optimise the overall path planning for emergency vehicles.Experimental validation was carried out in several simulated environments. The results show that, compared to the traditional A* algorithm, the average runtime of the proposed algorithm is reduced by 13.14% in environments with only static obstacles and by 14% in environments with both static and dynamic obstacles, with the average path length reduced by 0.9% and the average runtime reduced by 0.63%. In random obstacle scenarios, the average path length is reduced by 2.3% and the average runtime is reduced by 0.26% compared to existing literature methods.