A path planning method with minimum energy consumption for multi-joint mobile robot

Abstract

In the field of intelligent robot, path planning is a hot issue of common concern. A* algorithm is widely used. By improving the search strategy based on A* algorithm, considering the impact of different ground conditions and cornering angle on the mobile peed and energy consumption of robot in the real environment, as well as multi-joint mobile robot constraints on cornering angle and other factors, this paper presents an improved A* algorithm of path planning which spends the minimum energy. From the simulation of multi-joint mobile robot, the algorithm is efficient for path planning in complex ground conditions, which made the energy consumption a third of the traditional algorithm A*.