Robot path planning based on IAPF-A-Star algorithm

Abstract

The traditional A-Star algorithm has the problem of performing much invalid traversal work of nodes near concave obstacles when dealing with path planning tasks in the presence of concave obstacles. To solve this problem, a fusion algorithm (called IAPF-A-Star here) based on improved artificial potential field (IAPF) and A-Star is proposed. In IAPF-A-Star, to better measure the distances between the nodes and the target node, the potential energy of the artificial potential field is used to represent the node’s proximity to the target node, and an iterative correction method is used to improve the potential field in order to eliminate the local low-potential energy that may exist in the artificial potential field. The improved potential field effectively avoids the occurrence of local low-potential fields and makes it possible to measure the position of nodes in relation to their target node by means of the potential field. Finally, the obtained path is converted to a curve path by using a cubic spline curve. In addition, to solve the problem that the curve path generated by the cubic spline curve may collide with obstacles, a path optimization strategy based on an adaptive cubic spline curve is proposed to make the final path smooth and collision avoidance, shorter and closer to the actual situation. Simulation experiments show that the proposed IAPF-A-Star algorithm in this paper can effectively avoid the problem of additional local energy consumption caused by concave obstacles when processing path planning tasks, and the traversal of invalid nodes facing different complex concave obstacles is effectively avoided.