关键词: 机器人, 路径规划, A*算法, 路径重规划, Pioneer P3DX

Abstract:

This paper presents a new robot path planning algorithm based on the basic A*. Adopting the TWICEPATHPLANNING strategy, the robot can replan its path effectively when falling across an unknown obstacle in the given environment; adopting the CHILDNODEGENERATION strategy based on priority value , the path planner can better deal with the width information of the robot. The new algorithm is proposed based on the above two strategies. In the end, the experimental results show the validity and reliability of the algorithm in both MobileSim simulator and Pioneer P3DX realworld robot. This new algorithm extends the original application regions, improves the intelligence of the robot, and enhances the realtime path planning ability of the robot.

Key words: robot；path planning；A* algorithm；path replanning；Pioneer P3DX