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Zbl 1240.68414
Wang, Hongwei; Ma, Yong; Xie, Yong; Guo, Min
Mobile robot optimal path planning based on smoothing of the A$^*$ algorithm. (Chinese. English summary)
[J] J. Tongji Univ., Nat. Sci. 38, No. 11, 1647-1650,1655 (2010). ISSN 0253-374X

Summary: A path planned for a mobile robot by the A$^*$ algorithm in a grid environment has flaws of many broken lines, frequently turning points, and large cumulative turning angle. Smoothing of A$^*$ is proposed in order to obtain an optimum path. The smoothing is established after the initial path is processed. Simulation results show that smoothing A$^*$ exceeds Ant and Anytime D$^*$. Length, total turning points and the cumulative turning angle of the path are reduced by almost 5\%, 50\%, 30\%$\sim$60\%, respectively.

MSC 2000:: *68T40 Robotics
93C85 Automated control systems

Keywords: mobile robot; path planning; smoothing A$^*$ algorithm; random obstacles distribution

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