Research on Path Planning of Mobile Robot Based on Improved Theta* Algorithm

The Theta* algorithm is a path planning based on graph search, which gives the optimal with more flexibility than A* in terms of routes. traditional difficult to take into account global and details traverses nodes, leads large amount computation not suitable for scenarios directly by algorithm. To address this problem, paper proposes an improved algorithm, namely W-Theta* heuristic function introducing weighting strategy, while default Euclidean distance calculation formula changed diagonal formula, finally achieves reduction time ensuring shorter path; trajectory optimization achieved curve fitting generated points make motion mobile robot smoother. Simulation results show that can quickly plan paths scenarios. Compared other algorithms, has better performance computational cost. In different scenarios, reduces 81.65% compared 79.59% algorithm; memory occupation during 44.31% 29.33%