Journal of System Simulation
Abstract
Abstract: Aiming at the problems of the traditional A* algorithm, such as the unhoped intersection between the planned path and the obstacles, the planned path has many inflection points and the search time is long, an improved bidirectional A* quadratic path planning algorithm for the indoor environments is proposed. Through the expansion of the map, the intersection between the planned path and the obstacle is solved. By new heuristic functions and bidirectional expansion methods, the search speed and accuracy of the bidirectional A* algorithm are improved. Turning cost function and adaptive weight are introduced to reduce the number of turning points. Quadratic programming and second-order Bezier curves are used to smooth the path, and the redundant nodes and the corners that do not conform to actual movement are deleted. Simulation results show that, the search speed is increased by 55.7%, the path length is shortened by 15.6%, and the inflection points and corners are reduced by 31.6% and 56.1%.
Recommended Citation
Li, Jiongyi; Li, Qiang; Zhang, Xinwen; Zin, Myo Htet; and Cai, Yongbin
(2025)
"Improved Bidirectional A* Quadratic Path Planning Algorithm for Mobile Robots,"
Journal of System Simulation: Vol. 37:
Iss.
2, Article 16.
DOI: 10.16182/j.issn1004731x.joss.23-1183
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol37/iss2/16
First Page
498
Last Page
507
CLC
TP242.6
Recommended Citation
Li Jiongyi, Li Qiang, Zhang Xinwen, et al. Improved Bidirectional A* Quadratic Path Planning Algorithm for Mobile Robots[J]. Journal of System Simulation, 2025, 37(2): 498-507.
DOI
10.16182/j.issn1004731x.joss.23-1183
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