Computer Science

Computer Science ›› 2021, Vol. 48 ›› Issue (11): 327-333.doi: 10.11896/jsjkx.200900170

• Artificial Intelligence • Previous Articles     Next Articles

Path Planning of Mobile Robot with A* Algorithm Based on Artificial Potential Field

CHEN Ji-qing1,2, TAN Cheng-zhi1, MO Rong-xian1, WANG Zhi-kui1, WU Jia-hua1, ZHAO Chao-yang1   

  1. 1 School of Mechanical Engineering,Guangxi University,Nanning 530004,China
    2 Manufacturing System and Advanced Manufacturing Technology Key Laboratory,Nanning 530004,China
  • Received:2020-09-23 Revised:2021-01-18 Online:2021-11-15 Published:2021-11-10
  • About author:CHEN Ji-qing,born in 1984,Ph.D,lecturer,postgraduate supervisor.His main research interests include robot motion control,machine vision,special robot system.
  • Supported by:
    National Natural Science Foundation of China(61703116), Natural Science Foundation of Guangxi Province,China(2017GXNSFBA198228) and Guangxi Science and Technology Base and Talent Project (AD19110034).

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Abstract: In order to solve the traditional A* algorithm is not taken into account when planning path obstacle distribution on the influence of the path selection,this paper puts forward an improved A* algorithm,the artificial potential field of thought and the traditional A* algorithm,the combination of the obstacles in grid map gives repulsive force function and the repulsive force around the grid size calculation,in order to improve the searching ability of A* algorithm,the repulsive force of the grid is introduced into the evaluation function of A* algorithm.The results of MATLAB simulation and Turtlebot experiments show that,compared with the traditional A* algorithm,the new improved algorithm combined with artificial potential field algorithm can plan a better path,improve the efficiency of path planning,and increase the search speed by 13.40%~29.68%.The path length is shortened by 10.56%~24.38%,and the number of path nodes is reduced by 6.89%~27.27%.The experimental results show that the improved A* algorithm has obvious optimization effect and is effective and feasible.

Key words: A* algorithm, Artificial potential field, MATLAB, Mobile robot, Path planning

CLC Number: 

  • TP242
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