To solve problems about large search range and collision path in global path planning,an improved A＊ algorithm is devised ground on thought of adaptive search distance.Firstly,an adaptive adjusting search distance mechanism in eight direc-tions is adopted to replace the original fixed search distance in phase of path extension search,so as to reduce the number of ex-tended search nodes and search time.Then,an anti-collision distance function is built up at the nodes around obstacles that are prone to collision to ensure the safe distance between the planned path and the obstacles.Finally,the improved A＊ algorithm is emulated and examined in Robot Operating System(ROS)and laboratory environment.The results fully confirm that compared with the existing A＊ algorithm,the proposed algorithm has advantages of 81.7%,39.7%and 27.3%in the number of searching nodes,efficiency of iteration and rotation optimization,respectively.
维普
万方数据