An Improved A* Algorithm Based on Loop Iterative Optimization in Mobile Robot Path Planning

  • Gang Peng
  • Lu HuEmail author
  • Wei Zheng
  • Shan Liang Chen
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11743)


In the mobile robot system, point-to-point path solving is one of the research hotspots in the field of robotics. Due to the many inflection points in the path planned by the traditional A* algorithm, the number of robot turns and the moving distance increases. Therefore, an improved A* algorithm is proposed. Based on the path of the traditional A* algorithm, a loop iterative optimization process is added. The path solved by the traditional A* algorithm is taken as the initial path of the loop iterative optimization process, from rough to fine layered iterative optimization until the total number of path nodes is minimized, and the optimal path solution is obtained. Compared with the traditional A* algorithm, the improved A* algorithm proposed in this paper effectively reduces the total number of path nodes and the number of inflection points, which can significantly improve the mobility of the robot in the actual environment. Experimental comparison results verify the feasibility and effectiveness of the proposed method.


Loop iterative optimization A* algorithm Path inflection point Path planning Mobile robot 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Gang Peng
    • 1
    • 2
  • Lu Hu
    • 1
    • 2
    Email author
  • Wei Zheng
    • 1
    • 2
  • Shan Liang Chen
    • 1
    • 2
  1. 1.School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhanChina
  2. 2.Key Laboratory of Image Processing and Intelligent Control of Education MinistryWuhanChina

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