A Path Planning Method for Mobile Robots Based on Improved Bidirectional A* Algorithm

Global path planning is one of the key technologies in the field of mobile robots, and A* algorithm is a very common and efficient global path planning algorithm. Aiming at the problems of the traditional A* algorithm, such as too many redundant points, too many invalid inflection points, the planned path is not smooth enough and the search path efficiency is low, the method of improving one-way search to two-way search, expanding the search field and introducing smoothing function is studied. At the same time, the traditional 4-field and 8-field search is increased to 16-field search, which effectively reduces redundancy points, shorens path length, improves search efficiency and speeds up search. Then Bessel smoothing is used to smooth the planned path and make the robot move more smoothly. Finally, the simulation results and experimental data are analyzed, and the traditional A* algorithm and the improved bidirectional A* algorithm are compared to verify the effectiveness and significance of the improved algorithm.