Research on Trajectory Planning Based on A* Algorithm

被引：0
|
作者：
Zhang, Qian [1 ]
Wei, Lisheng [2 ]
Li, Tongtao [3 ]
机构：
[1] Anhui Polytech Univ, Sch Elect Engn, Wuhu 241000, Peoples R China
[2] Anhui Polytech Univ, Anhui Key Lab Elect Dr & Control, Wuhu 241000, Peoples R China
[3] Henan Univ Technol, Sch Elect Engn, Zhengzhou 450000, Henan, Peoples R China
来源：
2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2022年
关键词：
Trajectory Planning; A* Algorithm; PRM Algorithm and Strategy Research;
D O I：
10.1109/CCDC55256.2022.10033537
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Aiming at the problems of robot path planning in complex environment, an improved A* algorithm is proposed to search the shortest path of robots. Firstly, PRM algorithm is utilized to construct probability map. Secondly, the constructed probability map is used to replace the nodes in the conventional A* algorithm. Then, A* algorithm is applied to search the shortest path in the probability map. Finally, a host of experiments verity the effectiveness and feasibility of the proposed method.
引用
收藏
页码：5669 / 5673
页数：5
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