Global path planning for mobile robot based on A∗ algorithm and genetic algorithm

摘要

In this paper, a hybrid method based on A* algorithm and genetic algorithm in grid map is proposed to solve the optimum path planning for mobile robots. In our scheme, A* algorithm is utilized for searching a constrained shortest path quickly, and the global optimal path is obtained by using genetic algorithm to optimize the path. The method makes the path node is not limited to the center of the grid, and does not need to judge whether the path intersects with the obstacle. Simulation results show that the proposed method not only can improve the search speed and search quality, but also can be applied to different environments.