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Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 1
75-79

Mobile robot planning based on improved A* algorithm

Shen Keyu
You Zhiyu
Liu Yongxin
Huang Tao
Key Laboratory of Electronic Information of State Ethnic Affairs Commission, College of Electrical Engineering, Southwest Minzu University, Chengdu 610041, China
DOI: 10.19734/j.issn.1001-3695.2022.04.0256

Abstract

Aiming at the problems of too many traversed nodes and large turning angles in the path planning of the A* algorithm, this paper proposed an improved A* algorithm that could adapt to the scene map. By quantifying the map scene information and the distribution of obstacles, introducing the influence of the parent node on the current node and increasing the weight of the heuristic function of the obstacle distribution rate, this paper further reduced the number of traversed nodes and improved the search speed. By adding turning penalty function, extended neighborhood priority search and redundant node smoothing strategy further optimized the path, it avoided redundant turns on the path and reduced the possibility of local optimal solutions on the path. Finally, the simulation test in the same map scene shows that the proposed algorithm can effectively reduce the number of traversed nodes, reduce the total turning angle, improve the search speed, shorten the path distance and obtain the global optimal path.

Foundation Support

西南民族大学中央高校基本科研业务费专项资金资助项目(2021NYYXS42)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.04.0256
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 1
Section: Algorithm Research & Explore
Pages: 75-79
Serial Number: 1001-3695(2023)01-012-0075-05

Publish History

[2022-08-29] Accepted Paper
[2023-01-05] Printed Article

Cite This Article

沈克宇, 游志宇, 刘永鑫, 等. 基于改进A*算法的移动机器人路径规划 [J]. 计算机应用研究, 2023, 40 (1): 75-79. (Shen Keyu, You Zhiyu, Liu Yongxin, et al. Mobile robot planning based on improved A* algorithm [J]. Application Research of Computers, 2023, 40 (1): 75-79. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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