An improved A∗ algorithm for path-planning of two-wheeled self-balancing vehicle

An improved A∗ algorithm for path-planning of two-wheeled self-balancing vehicle is designed to deal with some typical faults caused by the traditional path-planning method, such as many turns, not enough smooth path and low efficiency when the environment changes greatly. In the proposed algorithm, a new heuristic function is presented to improve the efficiency of the path-planning of two-wheeled self-balancing vehicle and a dynamic weighting method for the evaluation function is proposed to balance the requirement between velocity and precise of the two-wheeled self-balancing vehicle. Additionally, the path is smoothed by deleting the redundant point. Experiments demonstrate the capability of the proposed path-planning algorithm, which reduces the path length and turning times, meanwhile, the path smoothness and the algorithm speed are improved.