Path Planning in Service Robot Based on Improved A* Algorithm

2nd International Symposium on Resource Exploration and Environmental Science

生态环境科学

Cao, Junyi^1 ; Liu, Jie^1

College of Instrumentation and Electrical Engineering, Jilin University, Changchun

130000, China^1

关键词: Calculating time;    Local path-planning;    Path-planning algorithm;    Real time characteristics;    Response speed;    Searching time;    Selection mechanism;    Service robots;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/170/4/042110/pdf
DOI  :  10.1088/1755-1315/170/4/042110

学科分类：环境科学（综合）

来源: IOP

【 摘 要 】

A∗ algorithm is a simple, scalable, and high reliable algorithm in the path planning algorithm. For the problem that service robots have high real-time characteristic and have short calculating time for algorithm, the A∗ algorithm is applied to the local path planning of service robots. To further improve the response speed of the algorithm, A∗ algorithm is improved by adjusting selection mechanism of the open update node choice and introducing the weight of Heuristics. The simulation and experimental results show that this new method has good planning performance. Adopting this new method can significantly reduce the searching time of algorithm and meet the high real-time need of service robots.