A path planning algorithm based on improved Theta~* for mobile robot
Xuanhui Yan · Caai Transactions on Intelligent Systems · 2013
Current research indicates the Theta* algorithm has improved in terms of solving the path planning for a mobile robot.First,the repulsion,which is generated by the obstacles to the robot,has been added to the heuristic function as a penalty function.Based on reasonably choosing the weight of the penalty function,the heuristic function was also identified.Due to this,the Theta* algorithm,a variant of A* algorithm,was improved,thereby creating a smooth route for the PS_Theta* algorithm.In the end,a test was conducted and analyzed,not only in the 2-D coordination simulated environment but also in the 3-D complex environment,and the data validated the algorithm reasonably and effectively.