Research on Mobile Robot Path Planning Based on A* Algorithm with Specific Node Priority
Zhenwu Zhou, Wenjie Yu, Ping Li, Hanbing Yan · 2023
Aiming to address the problem of robots based on QR code navigation being unable to reach QR code nodes in time to correct dead reckoning errors, this paper proposes an improved A* algorithm. The improved method firstly groups all QR code nodes into a dedicated node list, separated from ordinary nodes. It then applies a QR code reward function to weight the nodes in the dedicated node list. Finally, it modifies the weighting of the heuristic function to prioritize generating paths that pass through specific nodes in order to reach the target node. Through simulation experiments, the proposed improved method increases the number of times the robot passes through the QR code nodes while ensuring path safety, effectively reducing dead reckoning errors, and improving the accuracy and efficiency of robot navigation.