基于改进A-Star算法的机器人路径规划研究

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中图分类号：TN820.4-34 文献标识码：A 文章编号：1004-373X（2026）01-0148-09

引用格式：赵艳祥，周伟，王轩杰，等.基于改进A-Star算法的机器人路径规划研究[J].现代电子技术，2026，49（1）：148-156

Research on robot path planning based on improved A-Staralgorithm

ZHAO Yanxiang，ZHOUWei，WANG Xuanjie， CHEN Tao （School，，，）

Abstract：AnimprovedA-StaralgorithmisproposedtoimprovetheeficiencyA-Staralgorithmthefeasibility path inpath planing.Thegridmethodisused tocreatethemap，theobstacleexpansiondetectionisintroducedtoavoidthe planingobjectbeingtooclosetotheobstacle，soastoensurethepathsafety.Theimproved8neighborhodsearchmethodis usedtosearchthepath，theunneessrysearchdirectioniseliminated.Theheuristicfunctionoptimizedbynonlinear weightingfactorisintroducedtoadjusttheheuristicvaluedynamicall，sothatthealgorithasbeteradaptabilityfleibility indifferentenvionments.Incombinationwiththebidirectionalsearchstrateg，thepathplaningiscarredoutfromthestarting pointtheendpointatthesame timeinthesearch process，whichreduces thesearch timecalculationcostefectivelyThe redundantpointremovalstrategyisintroducedtodeleteuecessrynodesafterthepathplanningisompleted，whichiizes thesimplicityfeasibility thepath.TheB-splinecurveisusedtosmoothoptimizetheplaningresults，whichimproves thefeasibilitysmoothnessthepath.Onthebasis theaboveimprovements，theA-Staralgorithmshowshighereffciency securityinavarietyexperimentalenvironments，ceal withcomplex robotpath planning tasks efectively.

Keywords：obstacle expansion;pathplaning；nonlinear weighting factor;bidirectional search；redundantpointremoval; B-spline curve; smoothness

0 引言

随着移动机器人的发展，路径规划已成为移动机器人领域的关键研究方向之一。（剩余10075字）