Supervisor:
Southwest Ordnance Industry Bureau
Organizer:
Chongqing Ordnance Industry Society
Chongqing University of Technology
Chongqing University of Technology
Research on path planning method based on enhanced A* algorithm
| DOI: | 10.11809/bqzbgcxb2024.09.040 |
| Keywords: | A* algorithm; path planning; algorithm enhancement; node selection; corner optimization; MATLAB |
| Abstract: | In addressing issues such as the generation of excessive dangerous and complex paths, as well as the potential entrapment in local optima during the path search process of the A* algorithm, this paper proposes an enhanced method for A*. Firstly, the algorithm’s efficiency is improved by dynamically adjusting the precision and breadth of the algorithmic search through the introduction of a special dynamic weight adjustment algorithm for the evaluation function. Secondly, rules are incorporated into the A* algorithm’s sub node selection process to address issues related to the contact between the route and obstacle vertices, thereby preventing the generation of high risk paths. Thirdly, a smoothness optimization is applied to the paths generated by the A* algorithm, eliminating unnecessary turns and maintaining a safe distance between the moving object and obstacles, thereby enhancing the smoothness and safety of the final path. Experimental results demonstrate that the improved A* algorithm exhibits higher efficiency, smoother and safer pathfinding in environments with varying degrees of obstacle complexity. Furthermore, the proposed improvements significantly reduce the data storage space occupied by the algorithm. The outstanding performance and safety considerations for the moving object make the proposed enhancements promising for achieving valuable engineering applications and garnering positive feedback from algorithm users in real world scenarios. |
| Published: | 2024-09-30 |