Local Path Planning Algorithm Based on A* Algorithm

Aiming at the problems of the current mainstream robot path navigation algorithms, such as large amount of computation, long computation time and real-time planning in complex environments, an improved local path algorithm was proposed. Based on the path planning of A* algorithm, the partial path planned by the current position of the robot was taken as the local path, the intercepted path was divided into multiple nodes, the relative distance and angle were calculated according to the coordinates of robot and the nearest node, the horizontal and vertical velocities of the robot were solved, and they were sent to the lower computer to control the robot movement. The navigation effect was tested using the intelligent vehicle platform introduced by iFLYTEK, and the movement time and the number of collisions with obstacles were compared under the control of TEB algorithm and improved algorithm respectively. The results show that compared with TEB algorithm, the number of collisions of the car under the control of improved algorithm is significantly reduced, the average time is reduced by 12 s, the average speed is increased by 0.2 m•s⁻¹, and the speed variation is relatively stable during the operation process with a length of about 30 m. The improved algorithm has a relatively simple structure, can reduce the amount of computation required in the path planning process, and can improve the stability of the overall motion of the robot.