Path Planning of Petrochemical Inspection Robot Based on Improved A*Algorithm
Addressing the complexities of the petrochemical plant environment and the difficulties in path planning,an improved A* algorithm-based path planning algorithm for petrochemical inspection robots is proposed.This design optimizes the traditional A*algorithm and integrates it with the Dynamic Window Approach,enhancing the path search efficiency and planning capabilities of the inspection robot.Firstly,the heuristic function of the traditional A* algorithm is improved by adopting dynamic weight coefficients to control the heuristic function,reducing the number of nodes in global path planning,and improving algorithm efficiency.Secondly,the neighborhood search is optimized to reduce the number of node visits and make path planning more purposeful.Thirdly,B-spline curves are used to smooth the path.Finally,dynamically changing points in the path planning route are selected as nodes for the Dynamic Window Approach to perform dynamic obstacle avoidance.Experimental results show that compared with the traditional A* algorithm,the improved A* algorithm has improvements in both path length and calculation time.After integrating the Dynamic Window Approach,it can achieve dynamic obstacle avoidance while ensuring global optimality,balancing safety,and efficiency.
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