Research on Path Planning of ROS Intelligent Robot Based on Improved A-Star Algorithm
Weicen Lyu, Xiande Zhuo, Kexi Zhu · 2023
In order to better realize the dynamic obstacle avoidance of robots, this paper proposes a path planning method of ROS intelligent robots based on improved A-Star algorithm. On the basis of the improved A-Star algorithm, the artificial potential field method is integrated to construct a hybrid path planning method, which makes robots can successfully avoid dynamic obstacles. Experimental results show that the comprehensive performance of the improved A-Star algorithm is improved, and it can be better combined with the artificial potential field method to obtain the global path and local path, and successfully avoid dynamic obstacles to complete path planning, which is feasible and effective.