An Improved Path Planning Algorithm Based on the Fusion of A* and Third-order Bessel Curves

Aiming at the problem that A* algorithm is easy to pass through obstacles and has inflection points in path planning, an improved path planning algorithm based on the fusion of A* and third-order Bezier curve was proposed. On the basis of the traditional A* algorithm, the redundant points on the path were deleted by the principle of vector parallelism to improve the path search efficiency. The traditional eight-neighbor search was improved to make the algorithm skip the points to be expanded near the obstacles when searching the path, and reduce the possibility of the path passing through the obstacles.The third-order Bezier curve was introduced to optimize the inflection point of the path planned by the improved algorithm. In the C++ programming environment, two map environment simulation experiments with different obstacle rates were carried out to verify the effectiveness of the improved algorithm. The results show that the improved A* algorithm can effectively improve the ability of path obstacle avoidance while preserving the search efficiency of the original algorithm. The third-order Bezier curve introduced can make the path planned by the improved algorithm smoother and more in line with actual motion of the robot.