Application of Improved A* Algorithm in Path Planning of ASR Mobile Robots
Aiming at the problem that the traditional A* algorithm has many useless nodes and takes a long time in the path planning of ASR mobile robot,this paper proposes an improved A* algorithm based on adaptive scene map,and introduces the turning penalty function strategy,extended direction and priority search strategy,path smoothing strategy,etc.,to avoid the problem of redundant turns in the path.The simulation results show that the improved A* algorithm can reduce the number of search nodes and shorten the path length,improve the operation efficiency of ASR mobile robot,and achieve the optimal path.
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