Improved A Path Planning Algorithm Integrating Bezier Curves

• Published in: 2024 International Conference on Advanced Robotics and Mechatronics (ICARM) pp. 885 - 890
• Main Authors: Jin, Rencai, Wang, Pengjie, Qian, Yuandi, Li, Dan, Gong, Xu, Zhao, Wenjie, Fu, Jingang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 08.07.2024
• Subjects: Mechatronics; Path planning; Robots
• ISSN: 2993-4990
• DOI: 10.1109/ICARM62033.2024.10715944

To address the issues of low search efficiency, nonsmooth paths, and excessive redundant nodes found in the traditional A* algorithm for path planning, an improved A* path planning algorithm incorporating Bezier curves is proposed. Initially, the traditional eight-neighborhood expansion is enhanced to a fourteen-neighborhood expansion, selecting the appropriate neighborhood extension direction based on the positional relationship between the current and target nodes. Subsequently, a key point extraction strategy is employed to eliminate redundant points and unnecessary turns in the path. Then, the algorithm integrates second-order and third-order Bezier curves to smooth the path. Finally, comparative simulation experiments of path planning are conducted in various obstacle scenarios. The results indicate that the improved A^{*} algorithm has reduced the number of search expansion nodes and path turns by an average of 30.05 \% and 33.35 \%, respectively, increased the search efficiency by an average of 29.25 \%, and shortened the path length by an average of 16.9 \%, validating the effectiveness of the algorithm.