Path Planning of Mobile Robot Based on Six-Way Search A*Algorithm
Aiming at the problems of low search efficiency and lack of path smoothness caused by the large number of extended nodes when the traditional A*algorithm is used for mobile robot path planning in com-plex environment,an A*algorithm based on six-way search is proposed.Firstly,on the basis of the heuris-tic function of the traditional A* algorithm,the Manhattan distance is weighted to reduce the search time and the number of extended nodes.Secondly,the traditional A*algorithm search strategy is improved,and a six-way search strategy is proposed to further reduce the number of algorithm expansion nodes and improve the path smoothness at the same time.Finally,the path smoothing strategy is used to smooth the planned path.The experimental results show that the A*algorithm based on six-way search can obtain higher search efficiency in simulation environments of different map scales,and the number of extended nodes is less,the turning angle is smaller,and it is more conducive to the path planning of mobile robots.
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