Fusion Algorithm of the Improved A* Algorithm and Segmented Bézier Curves for the Path Planning of Mobile Robots

In terms of mobile robot path planning, the traditional A* algorithm has following problems: a long searching time, an excessive number redundant nodes, and too many path-turning points. As result, shortest obtained from planning may not be optimal movement route actual robots, it will accelerate hardware loss robots. To address aforementioned problems, fusion for combining improved with segmented second-order Bézier curves, is proposed in this paper. On one hand, presented to reduce unnecessary expansion nodes shorten search which was achieved three aspects: (1) 8-neighborhood strategy adjusted 5-neighborhood according orientation target point relative current node; (2) dynamic weighting factor heuristic function introduced into evaluation algorithm; (3) key node extraction designed path. other planned by smoothed using curves. The simulation results show that can effectively time curvature length certain extent, improving safety.