Improved a-star algorithm for robot path planning in static environment

Abstract

A-star algorithm is a kind of simple path planning algorithm without solving the calculus, which has a high application. However, compared with other path planning algorithms, it occupies a large memory space. To solve this problem, this paper proposes three new concepts such as the bidirectional search, a guide line and a list of key points. A-star algorithm is optimized and rasterize on indoor environment modeling method, finally through the MATLAB simulation experiments prove that the optimized algorithm feasible experimental results show that the improved algorithm in target different under the two kinds of experiment are able to reduce memory footprint by more than 60%.