Global path planning for unmanned vehicles based on improved A* algorithm

Jiajia Miao; Xinyue Yao; Yiqun Liu; Tao Liu; Yihuan Zhang

doi:10.1117/12.2646817

7 September 2022 Global path planning for unmanned vehicles based on improved A* algorithm

Jiajia Miao, Xinyue Yao, Yiqun Liu, Tao Liu, Yihuan Zhang

Proceedings Volume 12329, Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022); 123291S (2022) https://doi.org/10.1117/12.2646817
Event: Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022), 2022, Changsha, China

Abstract

The traditional A* algorithm has many turns, long paths, and slow speed in the global path planning of unmanned vehicles. For these problems, this paper proposes an improvement scheme. Add a reverse search from the end point to the starting point and generate a straight-line path between two nodes when judging that there is no obstacle between the target nodes in both directions. In addition, redundant nodes are eliminated, and the path is smoothed based on cubic B spline curves. Simulation results show that compared with the traditional A* algorithm, the path planned by the improved A* algorithm has shorter length, fewer and smoother turns, and the planning time is reduced by 14%-75%, which achieves the optimization of the path planning of the A* algorithm.

Citation Download Citation

Jiajia Miao, Xinyue Yao, Yiqun Liu, Tao Liu, and Yihuan Zhang "Global path planning for unmanned vehicles based on improved A* algorithm", Proc. SPIE 12329, Third International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2022), 123291S (7 September 2022); https://doi.org/10.1117/12.2646817

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