Research on path planning for mobile robots based on improved A-star algorithm

Abstract

A-star algorithm, as A-star commonly used in the traditional path planning algorithm, has a good performance in the static map. The idea of optimization is mainly around the enlightening function, search neighborhood, curve smoothing and using two-way A-star algorithm to improve the computational efficiency of the algorithm. In simulation experiments using the modified A-star algorithm, the experimental results show that the modified A-star algorithm is better than the traditional A-star algorithm in the number of search points, path length and running time, and the planned path is smoother. Finally, the improved A-star algorithm is applied to the wheeled robot in the real indoor environment to verify the feasibility of the improved A-star algorithm.