Path Planning of Mobile Robot with A Algorithm Based on Artificial Potential Field

In order to solve the problem that the traditional A* algorithm does not consider the influence of obstacle distribution on the path selection when planning the path, an improved A* algorithm is proposed in the article. The idea of artificial potential field is combined with the traditional A* algorithm, and the grid The obstacles in the map give the repulsive force field function and calculate the repulsive force of the surrounding grid. When searching for the path, the repulsive force of the grid is introduced into the evaluation function of the A* algorithm to improve the search ability of the A* algorithm. Through MATLAB simulation and The experimental results of the Turtlebot robot show that compared with the traditional A* algorithm, the improved new algorithm combined with the artificial potential field algorithm can plan a better path, improve the efficiency of path planning, and increase the search speed by 13.40% ～29.68%, the path length is shortened by 10.56%～24.38%, and the number of path nodes is