Path Planning of Six-wheel-drive Rescue Robot Based on A* Algorithm and Artificial Potential Field Method

Abstract

In view of the rescue robot path planning under complicated environment and unknown disturbance failure problem, path planning of complex environment for rescue robot based on the improved Hybrid algorithm is proposed in this paperThe hybrid algorithm improves the traditional A* and introduces artificial potential field into A*. More and more reliable path planning algorithms need to be studied to ensure that the rescue robot can reach the rescue scene quickly, including the heuristic function H(n) is dynamically weighted, and redundant nodes in the path are removed. In my paper, the search speed of A* algorithm is improved by dynamically changing the weight size, the redundant nodes are eliminated to reduce the path length, and the APF is introduced to avoid obstacles to make the rescue robot reach the end point successfully and efficiently. We can see from the simulation results-the hybrid algorithm has better performance, the Search time reduced by 34.09%, the length is shortened by 5.75%, and the turning points are shortened by 36.28%. The results show that this method has obvious optimization effect and certain feasibility.