Fusion Algorithm of the Improved A* Algorithm and Segmented Bézier Curves for the Path Planning of Mobile Robots

Rongshen Lai (), Zhiyong Wu, Xiangui Liu () and Nianyin Zeng
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Rongshen Lai: School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen 361024, China
Zhiyong Wu: School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen 361024, China
Xiangui Liu: School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen 361024, China
Nianyin Zeng: Department of Instrumental and Electrical Engineering, Xiamen University, Xiamen 361005, China

Sustainability, 2023, vol. 15, issue 3, 1-17

Abstract: In terms of mobile robot path planning, the traditional A* algorithm has the following problems: a long searching time, an excessive number of redundant nodes, and too many path-turning points. As a result, the shortest path obtained from planning may not be the optimal movement route of actual robots, and it will accelerate the hardware loss of robots. To address the aforementioned problems, a fusion algorithm for path planning, combining the improved A* algorithm with segmented second-order Bézier curves, is proposed in this paper. On the one hand, the improved A* algorithm is presented to reduce unnecessary expansion nodes and shorten the search time, which was achieved from three aspects: (1) the traditional 8-neighborhood search strategy was adjusted to 5-neighborhood according to the orientation of the target point relative to the current node; (2) the dynamic weighting factor of the heuristic function was introduced into the evaluation function of the traditional A* algorithm; and (3) the key node extraction strategy was designed to reduce the redundant nodes of the optimal path. On the other hand, the optimal path planned by the improved A* algorithm was smoothed using segmented second-order Bézier curves. The simulation results show that the improved A* algorithm can effectively reduce the search time and redundant nodes and the fusion algorithm can reduce the path curvature and path length to a certain extent, improving path safety.

Keywords: mobile robot; path planning; improved A* algorithm; Bézier curves; fusion algorithm (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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