Improved A* algorithm for mobile robot path planning

Yuhang Liu; Xiangjie Li; Yala Tong

doi:10.1117/12.3004049

11 October 2023 Improved A* algorithm for mobile robot path planning

Yuhang Liu, Xiangjie Li, Yala Tong

Proceedings Volume 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023); 128000R (2023) https://doi.org/10.1117/12.3004049
Event: 6th International Conference on Computer Information Science and Application Technology (CISAT 2023), 2023, Hangzhou, China

Abstract

To solve the problem of traditional A* in terms of high memory consumption, long calculation time, excessive turning angles and insufficient computing resources for mobile robots that require high-performance algorithms in large and complex scenes, this paper proposes an improved A* algorithm based on the jump point search algorithm. The algorithm selects a small number of key jump points as path nodes to generate the optimal path, reducing the operations of traditional A* algorithms on a large number of unnecessary nodes and thus reducing the demand for computing resources and improving algorithm performance. To verify the advantages of the improved A* algorithm, this paper conducted simulation experiments on 2D grid maps of different sizes. The simulation results show that compared with traditional A* algorithms, the improved A* algorithm requires fewer expanded nodes in the pathfinding process, has faster pathfinding speed, and has more significant performance improvement effects with large complex map.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yuhang Liu, Xiangjie Li, and Yala Tong "Improved A* algorithm for mobile robot path planning", Proc. SPIE 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023), 128000R (11 October 2023); https://doi.org/10.1117/12.3004049

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