Research on Improved A? Algorithm in Path Planning of Spraying Robot
Aiming at the problems of the traditional A∗ algorithm in path planning,such as many search nodes,low security and large path turning angle,an improved A∗algorithm is proposed.By optimizing the e-valuation function,the search time is reduced and the search efficiency is improved.Change the selection meth-od of sub-nodes to avoid the spraying robot from passing through the apex of the obstacle and the distance be-tween it and the obstacle is too close,so as to improve the safety of its work;the path is smoothed and optimized by the Bezier curve,reducing the angle of turning.The simulation results show that the proposed algorithm effec-tively reduces the search time and the turning angle,increases the safety of the planned path,makes the path smoother,and obtains a better path.
path planningimproved A∗ algorithmspraying robotevaluation function