Mobile Robot Global Planning Based on Improved A* Algorithm Path Planning Research

Abstract

For the problems with low planning efficiency, frequent path corners, and significant path bending angles in the routes planned by the standard A* method, we present an improved A* algorithm. Firstly, the valuation function is refined based on the traditional A* algorithm. An initial path is then planned with the introduction of a weight-based valuation function. Subsequently, a corner optimization strategy is implemented to optimize the original path. This leads to a new path with reduced path inflection points without increasing the cost. Finally, the moving average method is employed to smooth the planned path and achieve a more optimal robot movement path. Simulations were carried out to evaluate the traditional A* algorithm, the A* algorithm with weight introduction, the A* algorithm with weight introduction and inflection point optimization, and the improved A* algorithm. The simulation results demonstrate that the improved A* algorithm provides a shorter search time, fewer path inflection points, and better path smoothing.