Mobile robot motion obstacle avoidance control based on improved A* algorithm and artificial potential field algorithm combination

Jinghua Si

doi:10.1117/12.2686586

10 August 2023 Mobile robot motion obstacle avoidance control based on improved A* algorithm and artificial potential field algorithm combination

Jinghua Si

Author Affiliations +

Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 127591M (2023) https://doi.org/10.1117/12.2686586
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China

Abstract

We propose a new obstacle avoidance method for mobile robots in unknown and dangerous environments. The method involves scanning the environment with a laser radar to obtain map data and building a grid map environment model, followed by initial path planning using an improved A* algorithm. To address the shortcomings of the A* algorithm, such as paths that are too close to obstacles and large turning angles, we propose combining the A* algorithm with an improved artificial potential field method. This method establishes a repulsive field between the robot and obstacles, ensuring that the robot's motion path stays away from obstacles. Simulation experiments have demonstrated that the obstacle avoidance mobile robot has excellent motion control capabilities.

Citation Download Citation

Jinghua Si "Mobile robot motion obstacle avoidance control based on improved A* algorithm and artificial potential field algorithm combination", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 127591M (10 August 2023); https://doi.org/10.1117/12.2686586

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