Improved A* Path Planning Method Based on the Grid Map

摘要

In obstacle spatial path planning, the traditional A* algorithm has the problem of too many turning points and slow search speed. With this in mind, a path planning method that improves the A* (A-Star) algorithm is proposed. The mobile robot platform was equipped with a lidar and inertial measurement unit (IMU). The Hdl_graph_slam mapping algorithm was used to construct a two-dimensional grid map, and the improved A* algorithm was used for path planning of the mobile robot. The algorithm introduced the path smoothing strategy and safety protection mechanism, and it eliminated redundant points and minimal corner points by judging whether there were obstacles in the connection of two path nodes. The algorithm effectively improved the smoothness of the path and facilitated the robot to move in the actual operation. It could avoid the wear of the robot by expanding obstacles and improving the safety performance of the robot. Subsequently, the algorithm introduced the steering cost model and the adaptive cost function to improve the search efficiency, making the search purposeful and effective. Lastly, the effectiveness of the proposed algorithm was verified by experiments. The average path search time was reduced by 13%. The average search extension node was reduced by 11%. The problems of too many turning points and slow search speed of traditional A* algorithm in path planning were improved.