Fusion Algorithm of the Improved A* Algorithm and Segmented Bézier Curves for the Path Planning of Mobile Robots
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Published:2023-01-30
Issue:3
Volume:15
Page:2483
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ISSN:2071-1050
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Container-title:Sustainability
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language:en
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Short-container-title:Sustainability
Author:
Lai Rongshen1, Wu Zhiyong1, Liu Xiangui1, Zeng Nianyin2ORCID
Affiliation:
1. School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen 361024, China 2. Department of Instrumental and Electrical Engineering, Xiamen University, Xiamen 361005, China
Abstract
In terms of mobile robot path planning, the traditional A* algorithm has the following problems: a long searching time, an excessive number of redundant nodes, and too many path-turning points. As a result, the shortest path obtained from planning may not be the optimal movement route of actual robots, and it will accelerate the hardware loss of robots. To address the aforementioned problems, a fusion algorithm for path planning, combining the improved A* algorithm with segmented second-order Bézier curves, is proposed in this paper. On the one hand, the improved A* algorithm is presented to reduce unnecessary expansion nodes and shorten the search time, which was achieved from three aspects: (1) the traditional 8-neighborhood search strategy was adjusted to 5-neighborhood according to the orientation of the target point relative to the current node; (2) the dynamic weighting factor of the heuristic function was introduced into the evaluation function of the traditional A* algorithm; and (3) the key node extraction strategy was designed to reduce the redundant nodes of the optimal path. On the other hand, the optimal path planned by the improved A* algorithm was smoothed using segmented second-order Bézier curves. The simulation results show that the improved A* algorithm can effectively reduce the search time and redundant nodes and the fusion algorithm can reduce the path curvature and path length to a certain extent, improving path safety.
Subject
Management, Monitoring, Policy and Law,Renewable Energy, Sustainability and the Environment,Geography, Planning and Development,Building and Construction
Reference41 articles.
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