Research on path planning of mobile robot based on improved A* algorithm

Jiaman Yin; Kairong Li; Zhipeng Zhu

doi:10.1117/12.2576241

12 October 2020 Research on path planning of mobile robot based on improved A* algorithm

Jiaman Yin, Kairong Li, Zhipeng Zhu

Proceedings Volume 11574, International Symposium on Artificial Intelligence and Robotics 2020; 115740L (2020) https://doi.org/10.1117/12.2576241
Event: International Symposium on Artificial Intelligence and Robotics (ISAIR), 2020, Kitakyushu, Japan

Abstract

Path planning plays an essential role in mobile robot system. Aiming at the low efficiency of A* algorithm in the process of robot path finding, this paper proposes two improvement methods to solve the problem of inefficient searching of A* algorithm. The first method is to improve the distance calculation formula in A* algorithm, and the second method is to perform the evaluation function in A* algorithm. Weighted processing. Experimental data shows that the comprehensively improved A* algorithm dramatically reduces the number of useless access nodes and speeds up the time-consuming search process, which reduces the search time by about 12～14% compared to the standard A* algorithm.

Citation Download Citation

Jiaman Yin, Kairong Li, and Zhipeng Zhu "Research on path planning of mobile robot based on improved A* algorithm", Proc. SPIE 11574, International Symposium on Artificial Intelligence and Robotics 2020, 115740L (12 October 2020); https://doi.org/10.1117/12.2576241

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