Mobile Robot Dynamic Path Planning Based on Improved A∗ Algorithm

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	Mobile Robot Dynamic Path Planning Based on Improved A∗ Algorithm
	Sun T(孙桐)2,3; Wang T(王挺)1,2; Sun P(孙平)3
	2021
会议日期	August 6-8, 2021
会议地点	Virtual, Beijing, China
关键词	mobile robot path planning A* algorithm dynamic window approach
页码	24-29
英文摘要	In order to solve the problems of large storage, excessive redundant nodes and inflection points of paths, and unsmooth track in the traditional A∗algorithm. This paper presents a fusion algorithm of mobile robot path planning based on the improved A∗ and dynamic window approach. Firstly, selectively expand the neighborhood according to the connection between the node to be expanded and the target node, and reduce the expanded nodes in openlist and closelist. Secondly, according to the key node extraction strategy, eliminate the redundant path nodes and unnecessary inflection points generated by A∗ tracking. Finally, the dynamic window approach is integrated to carry out real-time dynamic path planning. The Matlab simulation experiment results show that the improved fusion algorithm shortens the path length, and the smoothness and security of the path are also optimized.
产权排序	1
会议录	2021 3rd International Conference on Robotics and Computer Vision, ICRCV 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-6654-3628-1
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29771]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Sun T(孙桐)
作者单位	1.Institute of Robotics and Intelligent, Manufacturing Innovation Chinese, Academy of Sciences, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Shenyang University of Technology, Shenyang, China
推荐引用方式 GB/T 7714	Sun T,Wang T,Sun P. Mobile Robot Dynamic Path Planning Based on Improved A∗ Algorithm[C]. 见:. Virtual, Beijing, China. August 6-8, 2021.