Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (10): 173-180.DOI: 10.3778/j.issn.1002-8331.2007-0102

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Robot Path Planning Method of Multiple A* Algorithm in Dynamic Environment

HUA Hong, ZHANG Zhi’an, SHI Zhenwen, CHEN Guanxing   

  1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
  • Online:2021-05-15 Published:2021-05-10



  1. 南京理工大学 机械工程学院,南京 210094


The traditional A* algorithm is only applicable to the global static environment. When solving path planning problems, it has the disadvantages of low search efficiency and uneven path. In response to these problems, the following improvements have been made:Optimizing the global path nodes and introducing the deleting redundant points criterion and the new node criterion, which can make the global path smoother and more in line with robot kinematics; Combined with the idea of the rolling window method, local path planning is performed in each rolling window. The local sub-target area is determined by the node information of the previous step, and then obstacle avoidance control strategies are introduced in the local sub-target area to implement real-time obstacle avoidance. Finally, a variety of grid map simulations are established on the Matlab, where the improved algorithm is compared with the original algorithm in terms of path smoothness, search efficiency and local planning ability, and the simulation analysis is performed in a dynamic environment. The simulation results show that the improved algorithm has good local planning capabilities, at the same time the path trajectory is smoother and the search efficiency is higher in complex environments.

Key words: path planning, obstacle avoidance control, A* algorithm, moving robot



关键词: 路径规划, 避障控制, A*算法, 移动机器人