Research on path planning of mobile robot based on ROS and improved A* algorithm

Wentao Wu; Zongmei Li; Wang Man; Lin Huang; Shuo Lin; Wankai Li

doi:10.1117/12.2658865

23 November 2022 Research on path planning of mobile robot based on ROS and improved A* algorithm

Wentao Wu, Zongmei Li, Wang Man, Lin Huang, Shuo Lin, Wankai Li

Proceedings Volume 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022); 1245428 (2022) https://doi.org/10.1117/12.2658865
Event: International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 2022, Hohhot, China

Abstract

This study suggests an enhanced A* algorithm to address the issues of numerous traversal nodes, numerous inflection points, and huge turning angles in the path planning of the traditional A* algorithm. The traditional A* algorithm is first improved in this paper's heuristic function and search efficiency using dynamic weighted averaging; next, the path planning of the traditional A* algorithm is smoothed using Bezier curves; and finally, the effect of the improved A* algorithm is tested in the built scene using gazebo simulation software and ROS system. The outcome demonstrates that the modified A* algorithm has superior path planning capabilities compared to the traditional A* algorithm.

Citation Download Citation

Wentao Wu, Zongmei Li, Wang Man, Lin Huang, Shuo Lin, and Wankai Li "Research on path planning of mobile robot based on ROS and improved A* algorithm", Proc. SPIE 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 1245428 (23 November 2022); https://doi.org/10.1117/12.2658865

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