An An Improved Path Planning Algorithm for A* Guiding Robot Based on Indoor Scenes

Abstract

This paper presents a smooth trajectory A* path planning algorithm to improve smooth trajectory and stable movement of a guiding robot in the indoor scenes, the improved path planning algorithm is made in result the trajectory is smoother by giving priority to generating nodes in the same direction as the original path and avoiding generating adjacent child nodes in the diagonal direction with obstacles. On the other hand, the computation time is reduced by removing the CLOSE table and judging by the g value of the BestNode in the algorithm. Ultimately, the improved algorithm is integrated into Robot Operation System (ROS). The simulation and realistic navigation experiment illuminated that the improved A* algorithm can reduce the movement time of the robot and optimize path planning more secure and smoother.