Research for path planning based on improved astart algorithm

Abstract

Astar algorithm (also calls as A* algorithm) is often applied into robot path planning because of its simple, high efficiency and optimized path, but some disadvantages are also in it. The path by the tradition A* algorithm often contains many redundant points and inflection points. In order to reduce these points, the improved A* algorithm is put forward in this paper, which simplified the path nodes by using the smoothing method and reduced the inflection points by weighted processing of evaluation function. In addition, the actual width of the robot is taken into account when the robot bypasses obstacles, and the concept of node priority to the process of generating sub-nodes is proposed to solving it. The simulation results proves the effectiveness of the improved A* algorithm.