Research on autonomous mobile robot path planning based on improved A* algorithm

In order to address the issue of optimal pathfinding in autonomous mobile robot navigation, an improved path planning scheme based on the traditional A* algorithm is proposed. Firstly, aiming at the problem of collision and low planning search efficiency in traditional A* algorithm, a safety distance is set, and the Euclidean distance calculation method is selected in the heuristic function, constructing a cost function with dynamically adjustable heuristic function weights. Secondly, to smooth out the non-smooth paths generated by traditional A* algorithm, a Bezier curve smoothing algorithm is employed for path smoothing. Then, through simulation experiments, the significant improvements of the algorithm in terms of planning efficiency, safety, and path smoothness are verified. Finally, through autonomous navigation experiments, the feasibility of the improved A* algorithm is demonstrated. The research demonstrates that the algorithm designed in this paper can plan the optimal path and safely and efficiently reach the target point.