Mobile robot optimal path planning based on smoothing A* algorithm

被引：20
|
作者：
Wang H. [1 ]
Ma Y. [1 ]
Xie Y. [1 ]
Guo M. [1 ]
机构：
[1] Institute of Systems Engineering, Huazhong University of Science and Technology
来源：
Tongji Daxue Xuebao/Journal of Tongji University | 2010年 / 38卷 / 11期
关键词：
Moving robot; Path planning; Random obstacles distribution; Size of grid environment; Smoothing A[!sup]*[!/sup] algorithm;
D O I：
10.3969/j.issn.0253-374x.2010.11.016
中图分类号：
学科分类号：
摘要：
Path planned by A* algorithm for mobile robot under grid environment is flaw with much broken lines, frequently turning points, large cumulative turning angle. Smoothing A* is proposed in order to obtain optimum path. Based on the initial path planned by A*, traversing all the nodes on initial path, deleting the node which prolong the length of initial path as no obstacle existing on the line connected by forward and after nodes. Smoothing A* model is established after initial path processed. Simulation results show that smoothing A* exceeds Ant, Anytime D*. Length, total turning points, cumulative turning angle of path are almost reduced by 5%, 50%, 30%~60% respectively when smoothing A* algorithm is adopted. Path planning problem under different complex environment with random obstacles distribution can be achieved by smoothing A* algorithm.
引用
收藏
页码：1647 / 1650+1655
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