Path Planning Research Based on An Improved A* Algorithmfor Mobile Robot

2019 2nd International Conference on Advanced Materials, Intelligent Manufacturing and Automation

Xin, Wang^1 ; Wanlin, Lu^1 ; Chao, Feng^1 ; Likai, Hao^1

Troop No.66133rd of PLA, Beijing

100144, China^1

关键词: A-Star algorithm;    Break-points;    Geometric optimization;    Path length;    Redundant nodes;    Robot navigation;    Smooth paths;    Threshold-value;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/569/5/052044/pdf
DOI  :  10.1088/1757-899X/569/5/052044

来源: IOP

【 摘 要 】

With the development of technology, the path planning technology of mobile robots has received extensive attention. The principle and process of A∗ algorithm are outlined. Because there are many break points in the A∗ algorithm, the path is not smooth and there are too many problems in searching for grid points. So we need improve the A-star algorithm. Firstly, in order to reduce the number of search grid points, a threshold value N is added to the openlist. If the number of search times is greater than N and the first node inserted is not expanded, the node is set to the highest priority. Secondly, we use the path planning based on the combination ofFloyd algorithm and A∗ algorithm to remove redundant nodes and reduce the sharpness of the breakpoints. Finally, the geometric optimization process results in a smooth path. Simulations verify that the improved A∗ algorithm reduces the path length and the path is smoother, more suitable for robot navigation.