Path Planning in Service Robot Based on Improved A* Algorithm
Junyi Cao, Jie Liu · IOP Conference Series Earth and Environmental Science · 2018
A* algorithm is a simple, scalable, and high reliable algorithm in the path planning algorithm. For the problem that service robots have high real-time characteristic and have short calculating time for algorithm, the A* algorithm is applied to the local path planning of service robots. To further improve the response speed of the algorithm, A* algorithm is improved by adjusting selection mechanism of the open update node choice and introducing the weight of Heuristics. The simulation and experimental results show that this new method has good planning performance. Adopting this new method can significantly reduce the searching time of algorithm and meet the high real-time need of service robots.