文章基本信息

标题：Robot Path Planning Based on Improved A* Algorithm
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作者：Jiansheng Peng ; Y. Huang ; G. Luo 等
期刊名称：Cybernetics and Information Technologies
印刷版ISSN：1311-9702
电子版ISSN：1314-4081
出版年度：2015
卷号：15
期号：2
DOI：10.1515/cait-2015-0036
出版社：Bulgarian Academy of Science
摘要：Due to the characteristic that A* algorithm takes a long time when traversing an OPEN table and a CLOSED table, an improved method is proposed that is a new way of array storing in an OPEN table and a CLOSED table. Compared to the original A* algorithm, the way of array storing accesses the array elements by locating the number ranks each time you visit a specified element, which can be done by only one operation. The original A* algorithm requires the traverse of multiple nodes in order to find a specified element. The experimental results show that the comparison of the improved A* algorithm with the original A* algorithm shows that the operating efficiency is improved by more than 40%. Based on the improved A* algorithm the method preserves the advantages of the original A* algorithm, improving the operating efficiency of A* algorithm.
关键词：Aalgorithm; path planning; grid; robot