Global Dynamic Path Planning Based on Fusion of Improved A* Algorithm and Morphin Algorithm

摘要

To meet the requirements of global optimal and real-time obstacle avoidance in mobile robot path planning, A novel method based on the fusion of improved A* algorithm and Morphin search tree algorithm is proposed. Firstly, A more appropriate heuristic function is designed for A* algorithm; Then a key node culling scheme is introduced into the traditional A* algorithm to remove the redundant nodes; Finally, the Morphin algorithm is integrated to perform real-time dynamic path planning on the global path based on the local information collected by the mobile robot sensor. On the basis of ensuring the better global path, the smoothness and local obstacle avoidance ability of path planning are improved. MATLAB simulation tests show that the mixed algorithm with A* and Morphin search tree algorithm can effectively shorten the path length and improve the efficiency to reach the target in the autonomous mobile robot path planning, efficiently complete path planning.