Research on path planning of three-neighbor search A* algorithm combined with artificial potential field

Among the shortcomings of A* algorithm, for example, there are many search nodes in path planning, and calculation time is long. This article proposes a three-neighbor algorithm combined with artificial potential fields to optimize planning problem mobile robots. The integrates improves partial field address irregular obstacles forward direction. guides robot move quickly. method performs accurate obstacle avoidance. current pose vector constructed during avoidance, range narrowed less than three neighbors, repeated searches avoided. In matrix laboratory environment, grid maps different ratios compared algorithm. experimental results show that proposed improved avoids concave traps shortens length, thus reducing number nodes. average length shortened by 5.58%, 77.05%, reduced 88.85%. fully effective feasible can provide optimal results.