Mobile robot motion obstacle avoidance control based on improved A* algorithm and artificial potential field algorithm combination
Jjinghua Si · 2023
We propose a new obstacle avoidance method for mobile robots in unknown and dangerous environments. The method involves scanning the environment with a laser radar to obtain map data and building a grid map environment model, followed by initial path planning using an improved A* algorithm. To address the shortcomings of the A* algorithm, such as paths that are too close to obstacles and large turning angles, we propose combining the A* algorithm with an improved artificial potential field method. This method establishes a repulsive field between the robot and obstacles, ensuring that the robot's motion path stays away from obstacles. Simulation experiments have demonstrated that the obstacle avoidance mobile robot has excellent motion control capabilities.