Application of Improved A* algorithm in Mobile Robot Path Planning

摘要

A* algorithm has lots of extended nodes, which will raises the amount of calculation. This paper presents Improved A* algorithm, which can reduces the amount of calculation by reducing the number of extended nodes. Improved A* algorithm adds one parameter which is the cost from the previous point to the final point in the valuation function, which will greatly reduces the number of nodes and improved algorithm efficiency. For the sake of proving the effectiveness of improved algorithm, simulation software and wheeled mobile robot are used for experiment. The experiments result show that our algorithm can greatly reduce the number of nodes.