Research on Path Planning Approach of Mobile Robot based on A*-SPF in Complex Environment
Jiguang Wu, Jiabin Yu, Zhiyao Zhao, Zhihao Chen, Jiping Xu, Lu Yang, Yang Chen · 2023
Path planning is a hot topic in mobile robots. The path, which planned by A* algorithm, is not smooth. The distance of the path is long, and the fault tolerance of the path is low. Meanwhile, due to the local unknown environments in the global environment, the mobile robot is prone to deviate from the planned path when autonomous navigation is performing. Therefore, the influence of local unknown environments is considered, and a novel path planning approach, which based on A*-SPF, is proposed in this paper. Firstly, according to the unequal rules of environmental information, an improved A* algorithm is proposed by modifying the cost function. Secondly, by integrating a simulated potential field (SPF), a path correction algorithm is proposed, by which the mobile robot can move close to the optimal path. The proposed approach is compared and analyzed in simulation experiments. The results of the experiments demonstrate that the path planned by the proposed approach is accurate. The tracking path is close to the optimal path. The robustness to different environments is also achieved.