Path planning of mobile robot based on improved A* algorithm

摘要

Aiming at the problem of path planning algorithm of autonomous parade robot in the indoor environment, this paper, based on Dijkstra algorithm and A∗ algorithm, introduces the influence of the current node's parent node to the heuristic function in A∗ algorithm, and seeks the optimal weight of the heuristic function to optimize the path planning algorithm. In the MATLAB environment, different scenarios were simulated, and compared with the non-improved situation in terms of path searching consumption time, path cost and traversed grid number and other indexes. After using the more reasonable heuristic function and changing the weight appropriately, the poor real-time capacity of the A∗ algorithm was improved at the expense of a small path cost.