Open AccessMobile Robot Path Planning Algorithm Based on Improved A Star
Author(s) -
Lei Zhang,
Yuan Li
Publication year - 2021
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 - 10.1088/1742-6596/1848/1/012013
Subject(s) - motion planning , fast path , path (computing) , a* search algorithm , any angle path planning , inflection point , smoothness , computer science , algorithm , mathematical optimization , path length , robot , star (game theory) , mathematics , artificial intelligence , mathematical analysis , computer network , geometry , programming language
With the rapid development of artificial intelligence, path planning has become one of the key technologies in the application of mobile robots. Although the A star(A*)path planning algorithm can plan a collision-free path, there are still shortcomings such as the path is not optimal, too many redundant points, and not smooth enough. Aiming at the deficiencies of the A* algorithm, an improved A* algorithm is proposed. Firstly improved A* algorithm divides the distance between adjacent nodes in the path planned by A* algorithm. Then we use the two-way optimization method to delete useless nodes, short the path length and reduce the number of inflection points. Finally, a cubic spline function is introduce d to smooth the path. The simulation results show that the improved A* algorithm is effectively optimized in terms of path length, number of inflection points and smoothness.