基于多策略改进A*算法的移动机器人路径规划OA

Aiming at the problems of the A* algorithm in mobile robot path planning,such as low search efficiency and large path turn angles,a multi-strategy improved A*algorithm is proposed.Firstly,map area and location information are introduced into the cost function of A* algorithm to reduce the number of search nodes.The target-point-oriented neighborhood search strategy is adopted to improve the search efficiency,and a key point selection strategy is used to retain the necessary path nodes.Simulation experiments are conducted to compare the improved algorithm with classical algorithms.The results show that the improved algorithm can significantly improve the search efficiency and generate a shorter and smoother path.Finally,the feasibility and effectiveness of the improved algorithm are verified in real environment.