A* Algorithm Path Planning and Minimum Snap Trajectory Generation for Mobile Robot

摘要

This paper proposes a hybrid algorithm combining the improved A* algorithm, the minimum snap trajectory generation, and the timed elastic band, to solve the problem of mobile robot path planning in complex environments. To improve the efficiency of the path planning algorithm passing through multiple target points in a single run, and to improve the flexibility of path smoothing, the target cost function is used to prioritize all targets, and the improved A* algorithm is used to plan an optimal path. Meanwhile, the minimum snap trajectory generation is used to effectively shorten the path length and reduce the total turning angle. In addition, an online path planning method combining the timed elastic band and the global path planning information is proposed for mobile robots to avoid the local obstacles and meet the non-holonomic constraints of mobile robots. Finally, the simulation experiments are carried out to evaluate the effectiveness of the proposed method. The results show that it can achieve path planning more effectively.