APSO: An A*-PSO Hybrid Algorithm for Mobile Robot Path Planning

Aiming at the problems of A* algorithm in mobile robot path planning, such as multiple nodes, low accuracy, long running time and difficult initialization particle swarm optimization, an APSO combining PSO was proposed to calculate optimal path. First, a redundant point removal strategy is adopted preliminarily optimize planned by obtain set key nodes. Second, stochastic inertia weight improve search ability PSO. Third, opposition-based learning further Fourth, global obtained using improved Fifth, motion objective function that more line with actual requirements used evaluate algorithm. The simulation results planning show not only reduces 17.35%, 14.84%, 15.31%, 15.21%, 18.97%, 15.70% compared six environment maps but also outperforms other algorithms varying degrees. Therefore, movement robot.