Research on Path Planning of Airport VIP Service Robot Based on A* Algorithm and Artificial Potential Field Method

Abstract

Aiming at the path planning problem of service robot movement in complex environment, this paper proposes a path planning method combining global planning with local planning algorithm. And then, a new algorithm is carried out by optimizing A*algorithm and artificial potential field algorithm. The results show that the new algorithm has reduced inflection points and break points, made the route smoother and decreased the collision probability of the service robot in the different environments of path planning. Compared with the traditional algorithms, it is found that the new algorithm has better results of path planning through shortening the running time by 59.13% and reducing the length of the optimal path by 52.3%. The algorithm has certain advantages for the service robot to adapt to the path planning in various environments.