Combined improved A* and greedy algorithm for path planning of multi-objective mobile robot
Abstract With the development of artificial intelligence, path planning of Autonomous Mobile Robot (AMR) has been a research hotspot in recent years. This paper proposes the improved A* algorithm combined with the greedy algorithm for a multi-objective path planning strategy. Firstly, the evaluation...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2022-08-01
|
| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-022-17684-0 |
| _version_ | 1811342814995283968 |
|---|---|
| author | Dan Xiang Hanxi Lin Jian Ouyang Dan Huang |
| author_facet | Dan Xiang Hanxi Lin Jian Ouyang Dan Huang |
| author_sort | Dan Xiang |
| collection | DOAJ |
| description | Abstract With the development of artificial intelligence, path planning of Autonomous Mobile Robot (AMR) has been a research hotspot in recent years. This paper proposes the improved A* algorithm combined with the greedy algorithm for a multi-objective path planning strategy. Firstly, the evaluation function is improved to make the convergence of A* algorithm faster. Secondly, the unnecessary nodes of the A* algorithm are removed, meanwhile only the necessary inflection points are retained for path planning. Thirdly, the improved A* algorithm combined with the greedy algorithm is applied to multi-objective point planning. Finally, path planning is performed for five target nodes in a warehouse environment to compare path lengths, turn angles and other parameters. The simulation results show that the proposed algorithm is smoother and the path length is reduced by about 5%. The results show that the proposed method can reduce a certain path length. |
| first_indexed | 2024-04-13T19:18:42Z |
| format | Article |
| id | doaj.art-1c35f6f4e3d046079487a50c20c4679b |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-04-13T19:18:42Z |
| publishDate | 2022-08-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-1c35f6f4e3d046079487a50c20c4679b2022-12-22T02:33:36ZengNature PortfolioScientific Reports2045-23222022-08-0112111210.1038/s41598-022-17684-0Combined improved A* and greedy algorithm for path planning of multi-objective mobile robotDan Xiang0Hanxi Lin1Jian Ouyang2Dan Huang3School of Automation, Guangdong Polytechnic Normal UniversitySchool of Automation, Guangdong Polytechnic Normal UniversityIndustrial Training Center, Guangdong Polytechnic Normal UniversityThe School of Mechanical and Automotive Engineering, South China University of TechnologyAbstract With the development of artificial intelligence, path planning of Autonomous Mobile Robot (AMR) has been a research hotspot in recent years. This paper proposes the improved A* algorithm combined with the greedy algorithm for a multi-objective path planning strategy. Firstly, the evaluation function is improved to make the convergence of A* algorithm faster. Secondly, the unnecessary nodes of the A* algorithm are removed, meanwhile only the necessary inflection points are retained for path planning. Thirdly, the improved A* algorithm combined with the greedy algorithm is applied to multi-objective point planning. Finally, path planning is performed for five target nodes in a warehouse environment to compare path lengths, turn angles and other parameters. The simulation results show that the proposed algorithm is smoother and the path length is reduced by about 5%. The results show that the proposed method can reduce a certain path length.https://doi.org/10.1038/s41598-022-17684-0 |
| spellingShingle | Dan Xiang Hanxi Lin Jian Ouyang Dan Huang Combined improved A* and greedy algorithm for path planning of multi-objective mobile robot Scientific Reports |
| title | Combined improved A* and greedy algorithm for path planning of multi-objective mobile robot |
| title_full | Combined improved A* and greedy algorithm for path planning of multi-objective mobile robot |
| title_fullStr | Combined improved A* and greedy algorithm for path planning of multi-objective mobile robot |
| title_full_unstemmed | Combined improved A* and greedy algorithm for path planning of multi-objective mobile robot |
| title_short | Combined improved A* and greedy algorithm for path planning of multi-objective mobile robot |
| title_sort | combined improved a and greedy algorithm for path planning of multi objective mobile robot |
| url | https://doi.org/10.1038/s41598-022-17684-0 |
| work_keys_str_mv | AT danxiang combinedimprovedaandgreedyalgorithmforpathplanningofmultiobjectivemobilerobot AT hanxilin combinedimprovedaandgreedyalgorithmforpathplanningofmultiobjectivemobilerobot AT jianouyang combinedimprovedaandgreedyalgorithmforpathplanningofmultiobjectivemobilerobot AT danhuang combinedimprovedaandgreedyalgorithmforpathplanningofmultiobjectivemobilerobot |