Improved A-star Algorithm based on Topological Maps for Indoor Mobile Robot Path Planning

Abstract

Aiming at the problem of low planning efficiency of traditional A-star algorithm in large indoor scenes, this paper proposes to improve the A-star algorithm based on the use of topological maps to improve the efficiency of A-star path planning in large scenes. First, use 2D lidar to construct a grid map to obtain high-precision environmental information. Secondly, the depth camera is used to capture indoor objects and construct a topological map. Finally, the connectivity of nodes in the topological map is used to improve the path planning problem of the A-star algorithm in large scenarios. Experiments show that the improved algorithm can quickly plan a path in large scenarios. Compared with the original A-star algorithm, this algorithm shortens the time cost and reduces the amount of calculation. Improve the planning efficiency of the algorithm.