Open AccessA mobile robot path planning algorithm based on improved A*
Author(s) -
Jinzheng Shi,
Yifan Su,
Chunguang Bu,
Xiaoliang Fan
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1486/3/032018
Subject(s) - motion planning , path (computing) , mobile robot , terrain , computer science , heuristic , algorithm , mathematical optimization , trigonometric functions , curvature , robot , computer vision , artificial intelligence , mathematics , geography , cartography , programming language , geometry
Global path planning of mobile robot aims to provide a safe and smooth path for mobile robot navigation. Traditional A * algorithm is planning the path of more turns, and not smooth. Moreover, for the u-shaped terrain, the path stick to the obstacles. Aiming at the shortcomings of A* algorithm, cosine distance is selected as the heuristic function, and direction information is added and normalized. The 36-order neighborhood search matrix is selected to solve the problem of fitting u-bend. In addition, a post-processing method based on Bessel curve is proposed. Make the planned path curvature change continuously. Simulation results show the effectiveness of the improved algorithm.