Research on Mobile Robot Path Planning Based on Improved A-star Algorithm
Yu Song, Peng‐Cheng Ma
Abstract
Addressing the issue of mobile robots avoiding obstacles autonomously, the traditional A-star algorithm for route planning is improved. First, the full convolution interpolation processing is used to expand the search area of the traditional path planning A-star algorithm. The path inflection point of the improved A-star algorithm is reduced, which shortens the moving distance of the mobile robot. Secondly, through multiple naturalizations of adjacent inflection points, the node redundancy is effectively reduced, and the overall path planning length is greatly reduced. Finally, the improved algorithm is simulated, and the results show that the improved method is a simple, convenient and effective method, which enhances the route planning capability.