Mobile Robot Path Planning Algorithm Based on Improved A Star
Lei Zhang, Yuan Li
Abstract
Abstract With the rapid development of artificial intelligence, path planning has become one of the key technologies in the application of mobile robots. Although the A star(A*)path planning algorithm can plan a collision-free path, there are still shortcomings such as the path is not optimal, too many redundant points, and not smooth enough. Aiming at the deficiencies of the A* algorithm, an improved A* algorithm is proposed. Firstly improved A* algorithm divides the distance between adjacent nodes in the path planned by A* algorithm. Then we use the two-way optimization method to delete useless nodes, short the path length and reduce the number of inflection points. Finally, a cubic spline function is introduce d to smooth the path. The simulation results show that the improved A* algorithm is effectively optimized in terms of path length, number of inflection points and smoothness.