Robot Path Planning Based on Improved A* Algorithm
To ensure that the mobile robot can safely follow the predetermined path and meet the dynamic constraints of the robot,an improved A* algorithm is proposed to address the problems of multiple path inflection points and discontinuous trajectories in the A* algorithm.Firstly,this method improves the efficiency and quality of traditional A* algorithms through dynamic weight allocation and node position reset strategies.Then,the pruning algorithm is introduced to further simplify the path and reduce redundant turning points.Finally,the trajectory is smoothed using B-splines and combined with model predictive control to ensure accurate tracking and system stability.The results showed that the improved algorithm reduced the average path length by 11%,and the resulting path was smooth and continuous.The improved algorithm can provide a safe and feasible smooth path for robots.
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