Application of Smart Service Robot Path Planning Based on Improved A* Algorithm

Abstract

Aiming at the problems of long time-consuming path planning and low node search efficiency when the exhibition hall service robots autonomously pick up and deliver items, a global path planning improved A* algorithm is proposed, which adds location information of the service robot on the basis of the traditional evaluation function. Contains the weight function of the cost function and heuristic function; in view of the low efficiency of A* algorithm node search, it is proposed to determine the quadrant where the target is located, and at the same time only perform the depth-first expansion search to the quadrant where the target is located, thereby ignoring other unnecessary quadrants; This paper uses Bezier curve to smooth the planned path, so that the smoothed path is closer to the actual motion path. The experimental results show that the average path length obtained by the improved A* algorithm path planning scheme is 5.34% less than the traditional A* algorithm, and the average time required is reduced by 22.56%. While ensuring the optimal path, it can improve the efficiency of service robot path planning and make the driving trajectory Smoother.