Research on Path Planning of Mobile Robot Based on Improved A-Star Algorithm

摘要

In order to solve A series of problems such as long search path time, excessive number of corners and uneven planning path based on the traditional A-Star algorithm, an improved A-Star algorithm is proposed in this paper. To achieve global path optimization and corner optimization. Matlab platform was used to simulate the path planning algorithm. By introducing and changing the proportionality of heuristic functions, the evaluation function was optimized to improve the search efficiency. Then the path is smoothed by using the cubic B-spline curve to eliminate the corner cusps of the path and improve the smoothness of the path under the premise of ensuring the global path optimal. The experimental data prove the operability of the improved algorithm the improved search efficiency is significantly improved, and a number of corners is effectively reduced and the path tends to be smooth under the premise that the path length is close.