A Path Planning Algorithm Based on A Heuristic Method

Abstract

The path planning algorithm plays a pivotal role in the field of intelligent robotics. However, in certain scenarios, the A-star algorithm exhibits drawbacks such as excessive redundant nodes and prolonged path lengths. Consequently, this paper introduces a path planning algorithm employing a heuristic approach, which will be briefly elucidated in the subsequent sections. If the straight-line path from the starting point to the destination is unobstructed, iterative calculations for path planning are unnecessary. Should the straight-line path intersect obstacles, the proposed heuristic algorithm is employed for local path planning to circumvent obstacles, and the obtained path is subsequently integrated with the overall trajectory. In the same context, we compare this algorithm with other path planning algorithms, revealing that the enhanced algorithm presented in this paper achieves a reduction in path length ranging from 0.07% to 12.58%. This successfully validates the effectiveness of the improved algorithm proposed in this study.