Research on Path Smoothing Processing of Mobile Robot Based on Improved A* Algorithm

doi:10.16182/j.issn1004731x.joss.24-0693

Abstract

Abstract:

Traditional bidirectional A* algorithm has many path inflection points, undergoes smoothness, and faces diagonal obstacles in path traversing. Therefore, an improved bidirectional A* algorithm was proposed. Local path constraint search was added to the forward search and backward search, respectively to solve the problem of planning paths traversing diagonal obstacles, and the effectiveness of the improved bidirectional A* algorithm to avoid traversing diagonal obstacles was verified through simulations. The path inflection points were optimized by introducing the cubic B-spline curve, and the paths before and after smoothing were tracked and controlled, respectively by using the differential-driven mobile robot. The differential mobile robot's sudden changes in velocity and acceleration were effectively mitigated. The results prove the effectiveness of the improved bidirectional A* algorithm to avoid the diagonal obstacles and improve the path smoothness.

Key words: path planning, fusion algorithm, path smoothing, bidirectional search, spline curve

CLC Number:

TP391.9

Chen Mengyuan, Qiao Guifang, Zou Xu, Cao Jiayu, Tian Lei. Research on Path Smoothing Processing of Mobile Robot Based on Improved A* Algorithm[J]. Journal of System Simulation, 2025, 37(11): 2804-2811.

Figures/Tables 8

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参数	符号	单位	参数值
车轮半径	R	m	0.1
轮距	L	m	0.5
初始位姿	[x,y,θ]	rad	[0,0,0]
跟踪控制器的预瞄距离	L_d	m	0.3
期望线速度	V	m/s	0.75
最大角速度	ω	rad/s	0.75