Research On Path Planning Method Of Indoor Mobile Robot Based On Improved A* Algorithm

Unmanned Ground Vehicle(UGA)and Unmanned Aerial Vehicle(UAV)have realized a large number of applications in daily production with the rapid development of mobile robot technology.Path planning has become one of the burning issues of robotics research.In order to make the UGA and UAV according to human will to the corresponding position.Path planning technology is the key to realize intelligent mobile robot.Path planning refers to finding a collision-free path from the starting point to the target point in an environment with obstacles according to certain evaluation criteria.A* Algorithm as a new heuristic search algorithm has applications quickly and easy implementation advantages.Many researchers have tried to use it to solve mobile robot path planning problems.However,the A * algorithm has the problems of many search nodes,many turning angles,and difficult steering in the process of obtaining the path.As a result,the A * algorithm is not the optimal path during path planning.Aiming at the indoor path planning of mobile robots,dissertation mainly works in the following aspects:(1)To improve the shortcomings of the A * algorithm in three aspects.First improve the evaluation function of the A * algorithm and increase the steering cost parameter in order to reduce unnecessary steering;Then improve the A * algorithm's node search method,delete the redundant nodes searched by A * algorithm,and keep the key nodes,such as turning points and starting points,as much as possible;Finally,the moving node filtering method is used to process the obtained node data to obtain a smooth and accessible path.(2)For the case where the A * algorithm can only effectively avoid static known obstacles,this dissertation proposes a fusion of the Morphin search tree algorithm and the improved A * algorithm to obtain the A-M dynamic path planning algorithm.A-M algorithm can complete dynamic planning in real time to avoid obstacles.MATLAB simulation results show that the proposed A-M dynamic path planning method is improved in time and path.The A * algorithm corrects the local path on the basis of optimizing the global path planning to achieve dynamic obstacle avoidance and improve the efficiency of the robot to reach the target point.(3)Built a ROS-based mobile robot platform turtlebot to realize the mobile robot's autonomous movement,mapping and navigation functions.Multi-group dynamic programming experiments were carried out using A-M algorithm in different indoor environments.The validity,reliability and security of A-M dynamic algorithm are verified.