Mobile Robot Path Planning Based on an Improved A* Algorithm
ZHAO Xiao1, WANG Zheng2, HUANG Chengkan1, ZHAO Yanwei1,2
1. Key Laboratory of Special Purpose Equipment and Advanced Manufacturing Technology, Ministry of Education, Zhejiang University of Technology, Hangzhou 310014, China;
2. College of Computer Science and Technology, Zhejiang University of Technology, Hangzhou 310023, China
Abstract：Aiming at the problems of A* algorithm in the large scene, such as large memory overhead and long computation time, an improved A* algorithm is proposed based on A* algorithm and jump point search algorithm. The algorithm expands by selecting jump points until the final path is generated. During the expansion process, a lot of unnecessary nodes in A* algorithm which are added to OpenList and ClosedList can be replaced by jump points to reduce computation. In order to prove the validity of the improved A* algorithm, the simulation is carried out in 2D grid map of different sizes. The simulation result shows that the improved A* algorithm expands fewer nodes in the pathfinding process, and the pathfinding speed is faster. The acceleration effect becomes more apparent with the increase of environment map. Finally, the improved A* algorithm is implemented on the mobile robot Turtlebot2 to conduct comparative experiments. The experimental result shows that the improved A* algorithm can speed up by about 200% compared with the A* algorithm when generating the same path, and it can meet the requirements of path planning for mobile robots.
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