Research on Path Planning of Mobile Robot Based on Improved A* in Special Environment
Ren Yiyue, Song Xiaoru, Song Gao · 2019
Aiming at the problems of A* algorithm in a large environment with density of obstacles, such as large memory overheads, long calculation times, an novel method based on the fusion of static weight method and jump point search is proposed in this paper. Static weight method improves heuristic function, then the search space is limited and brute force search is reduced. Jump point search filters key points, then unnecessary nodes are reduced and search speed is accelerated The experimental results demonstrate that compared with traditional A* algorithm, the number of invisited nodes is reduced, and the search speed is accelerated. Therefore, the proposed algorithm can meet the requirements of fast path finding in special environments.