Mobile robot path planning based on an improved A* algorithm

摘要

In order to improve the shortcomings of long calculation time and uneven path in the pathfinding process of A* algorithm, an optimization algorithm is proposed. First, on the basis of the A* algorithm, combined with the jump point search algorithm (JPS), the amount of calculation is reduced by replacing the expansion nodes in the A* algorithm with jump points. Secondly, a pruning algorithm is used to prune the obtained path to further remove unnecessary nodes in the path. Finally, the path is smoothed with a quadratic Bézier curve. At the end of paper, simulations were carried out in grid maps of different sizes, and experiments were carried out in the real environment. It is shorter and realizes the optimization of path length and smoothness.