火力与指挥控制2026，Vol.51Issue(1)：31-41,11.DOI:10.3969/j.issn.1002-0640.2026.01.004
基于多策略改进A*算法的移动机器人路径规划
Path Planning of Mobile Robot Based on Multi-strategy Improved A*Algorithm
摘要
Abstract
Aiming at the problems of the A* algorithm in mobile robot path planning,such as low search efficiency and large path turn angles,a multi-strategy improved A*algorithm is proposed.Firstly,map area and location information are introduced into the cost function of A* algorithm to reduce the number of search nodes.The target-point-oriented neighborhood search strategy is adopted to improve the search efficiency,and a key point selection strategy is used to retain the necessary path nodes.Simulation experiments are conducted to compare the improved algorithm with classical algorithms.The results show that the improved algorithm can significantly improve the search efficiency and generate a shorter and smoother path.Finally,the feasibility and effectiveness of the improved algorithm are verified in real environment.关键词
A*算法/移动机器人/路径规划/目标点导向邻域搜索/关键点选取Key words
A*algorithm/mobile robot/path planning/target-point-oriented neighborhood search/key point selection分类
信息技术与安全科学引用本文复制引用
刘超,袁杰,张宁宁,张迎港,杨怡程,万忠原..基于多策略改进A*算法的移动机器人路径规划[J].火力与指挥控制,2026,51(1):31-41,11.基金项目
国家自然科学基金(62263031) （62263031）
新疆维吾尔自治区自然科学基金资助项目(2022D01C53) （2022D01C53）
