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Mobile robot optimal path planning based on smoothing of the A$^*$ algorithm. (Chinese. English summary) Zbl 1240.68414
Summary: A path planned for a mobile robot by the A$^*$ algorithm in a grid environment has flaws of many broken lines, frequently turning points, and large cumulative turning angle. Smoothing of A$^*$ is proposed in order to obtain an optimum path. The smoothing is established after the initial path is processed. Simulation results show that smoothing A$^*$ exceeds Ant and Anytime D$^*$. Length, total turning points and the cumulative turning angle of the path are reduced by almost 5%, 50%, 30%$\sim$60%, respectively.
68T40Robotics (AI aspects)
93C85Automated control systems (robots, etc.)
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