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

摘要

A path planning algorithm based on improved A-star bidirectional search algorithm is proposed to ensure that the robot can work quickly and safely in a complex environment with known obstacles on the road. The heuristic function of A-star algorithm is improved by introducing dynamic weights. In addition, the corner optimization of the algorithm is carried out in the case of the least turn at the same path cost. The dynamic bidirectional search is introduced to search the path from the beginning and end of the path at the same time. Then smoothing at corners in the selected path is more efficient than right-angle steering. Finally, the simulation results show that the improved algorithm has better effect than the traditional A-star algorithm in terms of time consuming and path optimization.