An Efficient Improved A* Algorithm for Mobile Robot Path Planning in Complex Environments

Abstract

This paper presents an improved path planning algorithm specifically designed for mobile robots operating in complex environments with a mix of small and large obstacles. Building upon the widely used A* algorithm, the focus of this approach lies in achieving a balance between fast computation and optimal path length. To evaluate its performance, a simulation system was created, and a custom map was designed. Through extensive simulations, a comparative analysis of the popular path planning algorithms, including RRT, RRT*, A*, and the proposed algorithm, was conducted. The simulation results clearly show that the developed algorithm outperforms the others in terms of computation speed and stability. These findings highlight the effectiveness of the proposed approach and its potential for practical use in real-world applications involving mobile robots.