OS3-3 Path Planning for Mobile Robots Based on Improved A-star Algorithm

Title:	OS3-3 Path Planning for Mobile Robots Based on Improved A-star Algorithm
Publication:	ICAROB2025
Volume:	30
Pages:	87-90
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2025.OS3-3
Author(s):	Yuanyuan Zhang, Miao Zhang
Publication Date:	February 13, 2025
Keywords:	Path planning, A-star, Robot
Abstract:	In this paper, an improved A-star (A) algorithm is presented, which decreases the search time and path cost by introducing a bidirectional search strategy, enhancing the evaluation function. Through the addition of inflection points deletion method, the path smoothness is augmented, and the running speed and reliability of A are enhanced. Eventually, the superiority of the improved A* algorithm is verified through comparative experiments.
PDF File:	https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS3/OS3-3.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/