基于栅格的可视图建模的移动机器人全局路径规划A*搜索算法

ccording to the point-to-point global path planning, this paper presents a A * algorithm of global path planning based on the grid and V-graph environmental model for the mobile robot, and achieves the optimal objective of the global path. The algorithm consists of three parts, namely building the grid map, designing the visual-point-to-point line and the search strategy of the path planning. The quantized grid shows the coordinate of visual point and values the searching cost of the A* algorithm. The improved V-graph method computes the vertical distant of the obstacle in the rectangular area from the visual point to the straight line which connecting the start point to goal point. The point of the least distant is selected as the effective point. Then all the effective point are connected. The improved method reduces the nodes in the searching process, and can achieve the high efficiency of the path planning. The feasibility and effectiveness of the algorithm are verified by the simulation of MATLAB.