A Path-planning Method of Wheel-driven Robot Based on A~* Algorithm
LI Jia-lan · Journal of Guangdong University of Petrochemical Technology · 2012
A path-planning method of wheel-driven robot based on A* algorithm was proposed.Firstly,the moving model of wheel-driven robot is constructed and the realizations of arc moving and direct moving were analyzed.Secondly,the effective moving space of robot in environment was described and the Malklink graph was used to model the environment.Thirdly,the A* algorithm was combined to realize the global static path planning of robot.The experiment showed the validity of method.