Journal of System Simulation
Abstract
Abstract: In order to improve the computational efficiency and path smoothness in a robot's global path planning, an adaptive robot path planning strategy based on an improved unilateral rectangle expansion A*(REA*) algorithm was proposed. The robot's operational safety was ensured by setting a buffer around obstacles. A passable interval formed by unilateral rectangle expansion was used as the operation unit, and bidirectional alternating search was combined to enhance the path planning efficiency. Inspired by potential field theory, the evaluation function was optimized by introducing a vector form to achieve fast adaptive obstacle avoidance. A new path planning strategy was proposed to optimize the path smoothness. The simulation results show that compared with the classical A* algorithm, the REA* algorithm, and other algorithms, the proposed algorithm can find the shortest and smoothest path within the shortest time.
Recommended Citation
Zhu, Ling; Li, Jing; and Zhang, Zhaohui
(2026)
"An Adaptive Robot Path Planning Based on Improved REA* Algorithm,"
Journal of System Simulation: Vol. 38:
Iss.
2, Article 7.
DOI: 10.16182/j.issn1004731x.joss.24-1327
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol38/iss2/7
First Page
332
Last Page
345
CLC
TP391.9
Recommended Citation
Zhu Ling, Li Jing, Zhang Zhaohui. An Adaptive Robot Path Planning Based on Improved REA* Algorithm[J]. Journal of System Simulation, 2026, 38(2): 332-345.
DOI
10.16182/j.issn1004731x.joss.24-1327
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