A Bidirectional Search A* Path Planning Algorithm Based on Dynamic Heuristic Method
Aiming at the problem that the traditional path planning A* algorithm has slow search speed and the resulting path turning angle too large,an A* path planning algorithm based on bidirectional search is proposed.Firstly,the overall search direction of A* search algorithm is adjusted to bidirectional search to initially improve the search speed.Secondly,dynamic weight coefficients are introduced in the planning process to adjust the heuristic function to further improve the search speed by balancing the relationship between path length and planning speed.Finally,B-spline curve is used to smooth and optimize the planned paths to solve the problem that the A* algorithm planning paths with too many turning angles cannot meet the actual motion control.The results of simulation experiments show that compared with the traditional A* algorithm,the algorithm in this paper reduces the search nodes and planning time by 79.24%and 62.56%,respectively.
mobile robotA* path planningbidirectional searchdynamic weight coefficientB-spline curve optimization
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