Next Article in Journal
Approximation Algorithms for the Geometric Firefighter and Budget Fence Problems
Next Article in Special Issue
A Multi-Stage Algorithm for a Capacitated Vehicle Routing Problem with Time Constraints
Previous Article in Journal
Near-Optimal Heuristics for Just-In-Time Jobs Maximization in Flow Shop Scheduling
Previous Article in Special Issue
Bilayer Local Search Enhanced Particle Swarm Optimization for the Capacitated Vehicle Routing Problem
Article Menu

Export Article

Open AccessArticle
Algorithms 2018, 11(4), 44; https://doi.org/10.3390/a11040044

Safe Path Planning of Mobile Robot Based on Improved A* Algorithm in Complex Terrains

School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China
*
Author to whom correspondence should be addressed.
Received: 24 January 2018 / Revised: 21 March 2018 / Accepted: 5 April 2018 / Published: 9 April 2018
(This article belongs to the Special Issue Metaheuristics for Rich Vehicle Routing Problems)
Full-Text   |   PDF [11251 KB, uploaded 3 May 2018]   |  

Abstract

The A* algorithm has been widely investigated and applied in path planning problems, but it does not fully consider the safety and smoothness of the path. Therefore, an improved A* algorithm is presented in this paper. Firstly, a new environment modeling method is proposed in which the evaluation function of A* algorithm is improved by taking the safety cost into account. This results in a safer path which can stay farther away from obstacles. Then a new path smoothing method is proposed, which introduces a path evaluation mechanism into the smoothing process. This method is then applied to smoothing the path without safety reduction. Secondly, with respect to path planning problems in complex terrains, a complex terrain environment model is established in which the distance and safety cost of the evaluation function of the A* algorithm are converted into time cost. This results in a unification of units as well as a clarity in their physical meanings. The simulation results show that the improved A* algorithm can greatly improve the safety and smoothness of the planned path and the movement time of the robot in complex terrain is greatly reduced. View Full-Text
Keywords: safe path planning; mobile robot; improved A* algorithm; environment modeling; evaluation function; path smoothing method; complex terrains safe path planning; mobile robot; improved A* algorithm; environment modeling; evaluation function; path smoothing method; complex terrains
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Zhang, H.-M.; Li, M.-L.; Yang, L. Safe Path Planning of Mobile Robot Based on Improved A* Algorithm in Complex Terrains. Algorithms 2018, 11, 44.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Algorithms EISSN 1999-4893 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top