Mobile Robot Path Planning Method Based on Improved A^* Algorithm and Robot Operating System

Abstract

As mobile robot technology advances, path planning emerges as a crucial research area. This paper introduces an improved $A^{*}$ algorithm to optimize path planning, addressing the A<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm’s limitations like excessive node expansion, prolonged computation time, and frequent path turning angles, while ensuring safety, efficiency, and stability. The proposed algorithm enhances the $A^{*}$ algorithm’s node expansion by selecting search nodes according to obstacle positions. Then, the heuristic function is dynamically weighted to enhance the search efficiency of the algorithm. Finally, the path is optimized using cubic Bézier curves to ensure smoothness. Experiments in ROS confirm that the proposed algorithm performs well and is suitable as path planning algorithm for mobile robots.