Safe Path Planning of Mobile Robot Based on Improved A* Algorithm in Complex Terrains
AbstractThe 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
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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.
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(4):44.Chicago/Turabian Style
Zhang, Hong-Mei; Li, Ming-Long; Yang, Le. 2018. "Safe Path Planning of Mobile Robot Based on Improved A* Algorithm in Complex Terrains." Algorithms 11, no. 4: 44.
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