The Improved A*Algorithm And Its Application In ASR Mobile Robot For Path Planning

Robotics is a highly integrated discipline. It combines the multidisciplinaryresearch such as control technique, sensor technology, intelligent information, bionicbiology, electronic technology and mechanical design, and so on. The researches inthis area are very popular, and its significance is very high. As the rapid developmentof advanced technology, the optimum path planning and obstacle avoidance havebecame the most important branch of robotics, which have already attracted more andmore researchers’ attention.In this paper, we obtain three-dimensional topographic height information bysensors and use gradient threshold method to deal with flatness on ground, thereshould be three robot traffic conditions: Passable area, Access more difficult area andhazard area. Then according to the robot itself parameters, takes appropriate thresholdvalue for traffic conditions and store them in two-dimensional array in correspondingcoordinates of the processed image. So we can establish an appropriate database tablestructure, relational tables are built to connect the grid node information, roadinformation and road access hardness information. After, we take advantage of A*algorithm to search for driving area and add threshold value as search path cost, so it’snot only the shortest possible path, but also more efficient access path. Practice hasproved this can make better results, because it takes into account the correspondingactual geographical environment.The following is the specific work of this subject:1. First, we introduce the principle and superiority of A*algorithm, and thenanalyze A*algorithm with heuristic function and the similar search algorithms whichwithout heuristic function, at last, through the experiment results and data analysis wecan prove that the A*algorithm is feasible and its research value is very high.2Using ASR mobile robot stereo vision sensor image information, and processesthe image information filtering of irrelevant information, and the establishment ofenvironment model, according to the environmental model terrain through thegradient threshold analysis method to determine the feasibility of running area, in theunmarked case distinguish obstacle areas, difficult passage area and traffic zone, andon the A*algorithm, introduced concept of the right, introduce the improved algorithmin3D modeling of the optimal path search performance, and on the assumption thatthe terrain environment simulation, and put forward the A*algorithm up to around eight direction search deficiencies.3In this section it introduce us the ASR robot, and analysis its structure andhardware in overall. Through analysis each module’s performance parameter, we canunderstand the precision and applicable range.4At last, we combine with some geometric methods to solution the mostimportant defect in algorithm, and give the experimental analysis to show that it haveobtained a much better path planning effect.