Research on Path-Planning Algorithm Integrating Optimization A-Star Algorithm and Artificial Potential Field Method

Lisang Liu; Bin Wang; Hui Xu

doi:10.3390/electronics11223660

journal article Open Access Nov 09, 2022

Research on Path-Planning Algorithm Integrating Optimization A-Star Algorithm and Artificial Potential Field Method

Lisang Liu Bin Wang

Hui Xu

Electronics Vol. 11 No. 22 pp. 3660 · MDPI AG

View at Publisher Save 10.3390/electronics11223660

Abstract

A fusion pathfinding algorithm based on the optimized A-star algorithm, the artificial potential field method and the least squares method is proposed to meet the performance requirements of path smoothing, response speed and computation time for the path planning of home cleaning robots. The fusion algorithm improves the operation rules of the traditional A-star algorithm, enabling global path planning to be completed quickly. At the same time, the operating rules of the artificial potential field method are changed according to the path points found by the optimal A-star algorithm, thus greatly avoiding the dilemma of being trapped in local optima. Finally, the least squares method is applied to fit the complete path to obtain a smooth path trajectory. Experiments show that the fusion algorithm significantly improves pathfinding efficiency and produces smoother and more continuous paths. Through simulation comparison experiments, the optimized A-star algorithm reduced path-planning time by 60% compared to the traditional A-star algorithm and 65.2% compared to the bidirectional A-star algorithm path-planning time. The fusion algorithm reduced the path-planning time by 65.2% compared to the ant colony algorithm and 83.64% compared to the RRT algorithm path-planning time.

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Metrics

108

Citations

30

References

Details

Published: Nov 09, 2022
Vol/Issue: 11(22)
Pages: 3660
License: View

Authors

L

Lisang Liu

School of Electronic, Electrical Engineering and Physics, Fujian University of Technology, Fuzhou 350118, China; National Demonstration Center for Experimental Electronic Information and Electrical Technology Education, Fujian University of Technology, Fuzhou 350118, China

B

Bin Wang

School of Electronic, Electrical Engineering and Physics, Fujian University of Technology, Fuzhou 350118, China; National Demonstration Center for Experimental Electronic Information and Electrical Technology Education, Fujian University of Technology, Fuzhou 350118, China

H

Hui Xu

School of Electronic, Electrical Engineering and Physics, Fujian University of Technology, Fuzhou 350118, China; National Demonstration Center for Experimental Electronic Information and Electrical Technology Education, Fujian University of Technology, Fuzhou 350118, China

Funding

Initial Scientific Research Fund of FJUT Award: GY-Z12079

Fujian Provincial Science and Technology Department Award: GY-Z12079

Cite This Article

Lisang Liu, Bin Wang, Hui Xu (2022). Research on Path-Planning Algorithm Integrating Optimization A-Star Algorithm and Artificial Potential Field Method. Electronics, 11(22), 3660. https://doi.org/10.3390/electronics11223660

Research on Path-Planning Algorithm Integrating Optimization A-Star Algorithm and Artificial Potential Field Method

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