Efficient path planning method based on improved A* algorithm

A path planning and algorithm technology, applied in two-dimensional position/channel control and other directions, can solve the problems of reduced efficiency, poor smoothness, frequent path corners, etc., to improve search efficiency and reduce the number of expanded nodes.

Pending Publication Date: 2022-07-08
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

However, the traditional A* algorithm has certain limitations
The improved A* algorithm proposed by B.Fu et al. in 2018 shortens the real-time planned path by judging whether there is an obstacle between the node on the cur...

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  • Efficient path planning method based on improved A* algorithm
  • Efficient path planning method based on improved A* algorithm
  • Efficient path planning method based on improved A* algorithm

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Embodiment Construction

[0037] The technical solutions in the embodiments of the present invention will be described clearly and in detail below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.

[0038] The technical scheme that the present invention solves the above-mentioned technical problems is:

[0039] This paper proposes an improved A* algorithm to quickly obtain an optimal or sub-optimal path in a large-area map environment. First of all, compared with the traditional A* algorithm's 8-neighborhood search method, this paper uses a 4-neighborhood search method suitable for large-area grid maps, which greatly reduces the calculation of some unnecessary nodes. Secondly, this paper improves the heuristic function, and at the same time gives different weights to the estimated cost of the heuristic function, so that the mobile robot can flexibly calculate the estimated cost of the no...

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Abstract

The invention requests to protect an efficient path planning method based on an improved A * algorithm. The method is an improved A * algorithm for quickly obtaining an optimal or suboptimal path in a large-area map environment. Firstly, compared with a 8-neighborhood search mode of a traditional A * algorithm, a 4-neighborhood search mode suitable for a large-area grid map is used, and calculation of some unnecessary nodes is greatly reduced. Secondly, a heuristic function is improved, and different weights are given to the estimated cost of the heuristic function, so that the mobile robot can flexibly calculate the estimated cost of the node according to the distance between the mobile robot and the starting point and the distance between the mobile robot and the target point in the planning process. And finally, a simulation test is carried out on the A * algorithm before and after improvement by selecting a plurality of groups of target points with different distances, the used time of each group of planning, the number of access nodes and the smoothness of the path are compared, and the high efficiency of the provided algorithm on path planning is verified.

Description

technical field [0001] The invention belongs to the technical field of mobile robot path planning, and relates to an efficient path planning method based on an improved A* algorithm. Background technique [0002] Path planning is a method of finding a relatively optimal path between two locations in a specific environment. In the process of mobile robot navigation, the path planning algorithm is used to determine the nodes to be traversed, and the current path is gradually determined by calculating the cost value of the nodes until the target point is reached or the search fails. In the actual environment where the distance between the starting point and the target point is far away, as the number of grids increases, the amount of computation increases exponentially, and it is particularly important to efficiently plan a feasible path. [0003] The A* algorithm is a heuristic search algorithm. Divide the entire workplace of a mobile robot into grids, each grid representing...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0276
Inventor 韩冷吴旭辉张毅孙霞李学勤郑焕平廖明霞文家富
Owner CHONGQING UNIV OF POSTS & TELECOMM
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