An Improved A Path Planning Algorithm for ROS Based Robots

In the ROS environment, an improved A* algorithm is proposed to address a series of problems caused by the A* algorithm, such as too many turning points, paths close to obstacles, and often falling into a "false-death" state, for a mobile robot in a complex situation. Firstly, according to...

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Bibliographic Details
Published in2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI) pp. 189 - 194
Main Authors Li, Zhe, Jia, Mingchao, Sang, Shengju
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2023
Subjects
A gorithm
Costs
grid cost map
Heuristic algorithms
heuristic function
Path planning
Power system stability
ROS
Search problems
Simulation
Stability analysis
straightening point removal method
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DOI10.1109/RICAI60863.2023.10489673

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Summary:In the ROS environment, an improved A* algorithm is proposed to address a series of problems caused by the A* algorithm, such as too many turning points, paths close to obstacles, and often falling into a "false-death" state, for a mobile robot in a complex situation. Firstly, according to the radius of the chassis of the mobile robot, the radius of the obstacle expansion layer in the ROS grid cost map is increased, secondly, the heuristic function is modified to introduce the generation value of the cost map, so as to prioritize the passage of the region with a lower generation value in the planning of global paths, and finally, the paths are further simplified by the method of straightening and de-pointing for the global paths so as to be easier for the control of the robot. Simulation results show that the improved A* algorithm can effectively keep the planned path away from obstacles, reduce the chance of collision of the robot, reduce the frequency of "false death" state of the robot, and improve the stability of the robot.
DOI:10.1109/RICAI60863.2023.10489673