Improved A* algorithm for mobile robot path planning
Yuhang Liu, X. H. Li, Yala Tong · 2023
To solve the problem of traditional A* in terms of high memory consumption, long calculation time, excessive turning angles and insufficient computing resources for mobile robots that require high-performance algorithms in large and complex scenes, this paper proposes an improved A* algorithm based on the jump point search algorithm. The algorithm selects a small number of key jump points as path nodes to generate the optimal path, reducing the operations of traditional A* algorithms on a large number of unnecessary nodes and thus reducing the demand for computing resources and improving algorithm performance. To verify the advantages of the improved A* algorithm, this paper conducted simulation experiments on 2D grid maps of different sizes. The simulation results show that compared with traditional A* algorithms, the improved A* algorithm requires fewer expanded nodes in the pathfinding process, has faster pathfinding speed, and has more significant performance improvement effects with large complex map.