PATH PLANNING ALGORITHM BASED ON IMPROVED A * SMOOTHNESS

In order to solve the problems of low execution efficiency of traditional A * algorithm and too many turning points, an improved A * algorithm based on optimized key point selection and smooth path is proposed. JP+1An improved jumping point search algorithm was used to speed up the jumping point search speed of the A * algorithm and select the expanded sub-nodes. The idea of pruning in RRT* was introduced to eliminate non-necessary nodes in the secondary path planning. The A * algorithm was combined with the Bezier curve to process the smoothness of the generated path. In order to test the feasibility and effectiveness of the improved A * algorithm, a comparison simulation experiment was carried out on a variety of grid maps of different sizes and on a mobile robot platform. The results show that compared with the original A * algorithm, the improved A * algorithm generates fewer expanded nodes, shortens the pathfinding time, and has higher execution efficiency. The improved A * algorithm has significantly improved path planning performance.