Global Path Planning Technology for Mobile Robots Based on Test Point Constraints
ZHU Dacheng
LI Wenhai
SUN Weichao
LI Gen
Abstract：Aiming at the problem that the mobile robot needs to autonomously plan the path and navigate to each test point in turn during intelligent testing and the traditional A*algorithm plans more inflection points due to the many obstacles in the testing environment,this paper proposes a global path planning algorithm based on the constraints of the test points,which first improves the A*algorithm,optimizes the evaluation function,and adopts a redundant point removal strategy on the paths obtained to make the paths smoother.Then based on the improved A*algorithm,the shortest path between each key point is calculated,and the se-lected path is iteratively optimized by genetic algorithm to finally obtain the optimal path through each test point.Simulation experi-ments show that the method has good performance in both solution quality and solution speed.
Keywords：global pathstest point constraintsA*algorithmgenetic algorithm
Publication Date：2025-05-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 43-47,141 )