Mobile Robot Optimal Path Planning Based on Smoothing A* Algorithm

Abstract:

Path planned by A* algorithm for mobile robot under grid environment is flaw with much broken lines,frequently turning points,large cumulative turning angle.Smoothing A* is proposed in order to obtain optimum path.Based on the initial path planned by A*,traversing all the nodes on initial path,deleting the node which prolong the length of initial path as no obstacle existing on the line connected by forward and after nodes.Smoothing A* model is established after initial path processed.Simulation results show that smoothing A* exceeds Ant,Anytime D*.Length,total turning points,cumulative turning angle of path are almost reduced by 5%,50%,30%~60% respectively when smoothing A* algorithm is adopted.Path planning problem under different complex environment with random obstacles distribution can be achieved by smoothing A* algorithm.

Key words:moving robot; path planning; smoothing A* algorithm; random obstacles distribution; size of grid environment