Safe path planning of mobile robot based on improved A\(^*\) algorithm in complex terrains (Q2331445)

Summary: The A\(^*\) algorithm has been widely investigated and applied in path planning problems, but it does not fully consider the safety and smoothness of the path. Therefore, an improved A\(^*\) algorithm is presented in this paper. Firstly, a new environment modeling method is proposed in which the evaluation function of A\(^*\) algorithm is improved by taking the safety cost into account. This results in a safer path which can stay farther away from obstacles. Then a new path smoothing method is proposed, which introduces a path evaluation mechanism into the smoothing process. This method is then applied to smoothing the path without safety reduction. Secondly, with respect to path planning problems in complex terrains, a complex terrain environment model is established in which the distance and safety cost of the evaluation function of the A\(^*\) algorithm are converted into time cost. This results in a unification of units as well as a clarity in their physical meanings. The simulation results show that the improved A\(^*\) algorithm can greatly improve the safety and smoothness of the planned path and the movement time of the robot in complex terrain is greatly reduced.