Robot Path Planning Based on Improved A* Algorithm

One of the most well-known path planning algorithms is the A* algorithm, which is used extensively in mobile robot navigation. Its wide turning angle, long processing times, and non-smooth path planning under huge task space are unavoidable drawbacks. This work suggests the CBS-A* algorithm, an enhanced A* algorithm, to solve these issues. By introducing the passage cost, bidirectional search, path quadratic planning, and improved heuristic function, the algorithm addresses the drawbacks of the conventional A* algorithm. In order to decrease the invalid direction search, the heuristic function is first upgraded. The path’s reliability is then increased by using the passage cost to prevent collisions between the robot and impediments. A bi-directional search approach is used, where the starting location and the goal point are searched simultaneously until the pathways meet, to cut down on planning time. Ultimately, the designed course is refined to minimize the superfluous nodes along the way, hence lowering the turning angle. Furthermore, the CBS-A* algorithm is evaluated and simulated. The experimental findings demonstrate that the upgraded A* algorithm has a much shorter path planning time and a smoother path when compared to the conventional A* method.