Mobile robot path planning based on improved A* algorithm fused with JPS

摘要

In order to solve the problems of large memory consumption and slow computation speed in the path planning of mobile robots with the traditional A* algorithm, a path planning method for mobile robots integrating A* and Jump Point Search (JPS) was proposed. Firstly, the multi-sided pruning algorithm is introduced to search for path hopping, which realizes the accelerated expansion of nodes, and reduces the search space by pruning. Secondly, the original fusion algorithm and the multilateral pruning algorithm are both improved and compared with the evaluation function. In order to further realize the smooth optimization of the path, linear interpolation and other methods were used to fit the arc. The simulation results show that compared with the original fusion algorithm, the multi-sided pruning algorithm reduces the path planning time by about 87.95% and the path length by about 5.16%, which confirms the feasibility and efficiency of the improved algorithm.