Mobile Robot Path Planning Algorithm Based on Improved A Star

摘要

Abstract With the rapid development of artificial intelligence, path planning has become one of the key technologies in the application of mobile robots. Although the A star(A*)path planning algorithm can plan a collision-free path, there are still shortcomings such as the path is not optimal, too many redundant points, and not smooth enough. Aiming at the deficiencies of the A* algorithm, an improved A* algorithm is proposed. Firstly improved A* algorithm divides the distance between adjacent nodes in the path planned by A* algorithm. Then we use the two-way optimization method to delete useless nodes, short the path length and reduce the number of inflection points. Finally, a cubic spline function is introduce d to smooth the path. The simulation results show that the improved A* algorithm is effectively optimized in terms of path length, number of inflection points and smoothness.