Research of mobile robot path planning based on improved A* algorithm

摘要

Aiming at the problem of low efficiency, large path turning angle and insufficient path smoothness of mobile robot path planning using traditional A* algorithm, an novel path planning method based on improved A* algorithm is proposed in this paper. The procedure of the proposed method is described as follows. Firstly, the grid method is used to model the working environment map of the mobile robot. Then, in order to improve the evaluation function of the A* algorithm, not only the node steering angle and the node direction angle are integrated into the actual cost function and heuristic function of the evaluation function, but also the exponential distance adjustment factor and parent node heuristic function information are added to the heuristic function. Finally, a rotation prediction method, to which the judgment of the minimum safety distance is added, is designed to optimize the two-way smoothing of the planned path. The simulation experiment results show that the path length planned by the improved A* algorithm is shorter, and the turning angle and number of turns are smaller. The algorithm designed in this paper can improve the search efficiency and adaptability of the A* algorithm, and increase the smoothness and safety of the path.