Path planning method based on improved A* algorithm

A path planning and path technology, applied in the field of intelligent robots, can solve the problems of consumption of memory resources, low efficiency, etc., and achieve the effect of coherent motion form, smooth overall path, and reduction of total length.
CN110487279AActive Publication Date: 2019-11-22SOUTHEAST UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
SOUTHEAST UNIV
Publication Date
2019-11-22

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Abstract

The invention discloses a path planning method based on an improved A * algorithm. For a problem that a path is not optimal due to the fact that many turning points exist in the path obtained throughthe A * algorithm, firstly, key inflection points in the path are combined on the basis of the A * algorithm, therefore, the turning points in the path are reduced, cubic spline interpolation points are reduced, interpolation efficiency is improved, secondly, a purpose of smoothing the path is achieved through cubic spline interpolation according to path nodes after inflection point combination, by means of the improved algorithm, the path length is shorter, the whole path is smoother, and the incomplete robot motion is better met.
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Description

technical field

[0001] The invention belongs to the field of intelligent robots, in particular to a path planning method based on an improved A* algorithm. Background technique

[0002] With the continuous development of robot technology, more and more robots are used to provide various services and even replace human work. Autonomous navigation is the key for robots to realize intelligence and play a role, and path planning is an important component of robot automatic navigation capabilities. Path planning has always been a hot research topic in the field of intelligent mobile robots. Path planning means that in the prior map, the mobile robot can automatically plan a collision-free path from the starting point to the ending point according to the surrounding environment and using sensors to obtain information.

[0003] There are many classifications of path planning algorithms. According to whether the external environment information is known, it can be divided into gl...

Claims

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