Path Planning of Mobile Robot Based on Bresen-Ham Line Algorithm Improved A* Algorithm

Aiming at the problems that A* algorithm is not the global optimal search path in mobile robot path planning, and the evaluation method of heuristic function is single, an improved A* algorithm based on Bresen-ham line algorithm was proposed. Firstly, the distance between two points and the obstacles between two points were comprehensively considered to form a multi-variate evaluation function. Then, the gradient descent method and Bezier curve were used to smooth the obtained path. Finally, in order to verify the effectiveness of the improved algorithm, C# was used for simulation experiments. The results show that the improved algorithm can shorten the path by 7.9% compared with the traditional A* algorithm in complex environments, and can fit the trajectory of the robot, which proves the effectiveness of the improved algorithm.