Research on Mobile Robot Path Planning Based on IHBS-A* Algorithm

Abstract

With the rapid development of mobile robot robots over the years, path planning has become one of the key technologies for mobile robot applications. Although the traditional A* algorithm has high search efficiency and fast computing speed, the planned paths are easy to collide with obstacles, have more inflection points and redundant nodes, and the robot keeps turning in the process of actual operation, which seriously affects the efficiency of robot operation, so this paper proposes the improved algorithm IHBS-A* (Improve heuristic, Bidirectional node and Smoothing path): for the safety problem by improving the heuristic function and introducing safety coefficient, which makes the mobile robot keep a certain For the safety problem, the heuristic function is improved and the safety factor is introduced to make the mobile robot keep a certain safety distance from the obstacles. The results show that the IHBS-A* algorithm not only retains the advantages of the fast computing speed of A*, but also makes the path safer, and the path is smoother, and shorter, which improves the efficiency of the mobile robot.