Journal of System Simulation
Abstract
Abstract: Traditional bidirectional A* algorithm has many path inflection points, undergoes smoothness, and faces diagonal obstacles in path traversing. Therefore, an improved bidirectional A* algorithm was proposed. Local path constraint search was added to the forward search and backward search, respectively to solve the problem of planning paths traversing diagonal obstacles, and the effectiveness of the improved bidirectional A* algorithm to avoid traversing diagonal obstacles was verified through simulations. The path inflection points were optimized by introducing the cubic B-spline curve, and the paths before and after smoothing were tracked and controlled, respectively by using the differential-driven mobile robot. The differential mobile robot's sudden changes in velocity and acceleration were effectively mitigated. The results prove the effectiveness of the improved bidirectional A* algorithm to avoid the diagonal obstacles and improve the path smoothness.
Recommended Citation
Chen, Mengyuan; Qiao, Guifang; Zou, Xu; Cao, Jiayu; and Tian, Lei
(2025)
"Research on Path Smoothing Processing of Mobile Robot Based on Improved A* Algorithm,"
Journal of System Simulation: Vol. 37:
Iss.
11, Article 9.
DOI: 10.16182/j.issn1004731x.joss.24-0693
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol37/iss11/9
First Page
2804
Last Page
2811
CLC
TP391.9; TP242
Recommended Citation
Chen Mengyuan, Qiao Guifang, Zou Xu, et al. Research on Path Smoothing Processing of Mobile Robot Based on Improved A* Algorithm[J]. Journal of System Simulation, 2025, 37(11): 2804-2811.
DOI
10.16182/j.issn1004731x.joss.24-0693
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