Mobile Robot Dynamic Path Planning Based on Improved A* Algorithm

摘要

In order to solve the problems of large storage, excessive redundant nodes and inflection points of paths, and unsmooth track in the traditional A*algorithm. This paper presents a fusion algorithm of mobile robot path planning based on the improved A* and dynamic window approach. Firstly, selectively expand the neighborhood according to the connection between the node to be expanded and the target node, and reduce the expanded nodes in openlist and closelist. Secondly, according to the key node extraction strategy, eliminate the redundant path nodes and unnecessary inflection points generated by A* tracking. Finally, the dynamic window approach is integrated to carry out real-time dynamic path planning. The Matlab simulation experiment results show that the improved fusion algorithm shortens the path length, and the smoothness and security of the path are also optimized.