Indoor mobile-robot path planning based on an improved A~* algorithm

摘要

An indoor mobile-robot path planning system was developed under the structured environment in consideration of the characteristics of mobile-robot technology on indoor localization.Based on the global map building methods,the environment map was built in the robot's actual environment using the grid method.The path preliminarily planned by A* algorithm contained all planning point coordinates,which caused more redundant points with the robot not being able to adjust its posture at the inflection point.An improved A* algorithm,which can calculate the inflection point,rotation direction and the minimum rotation angles,was then proposed against the shortage of the path planning.Mobile-robot positioning tests show that the improved algorithm not only simplifies the path,but also adjusts the robot's posture at the inflection point,which can meet the requirements of robot autonomous movement.