Fusion of improved A* and TEB algorithm for autonomous mobile robot path planning
NIU Jigao
KOU Xiaohui
HOU Junkai
Abstract：To address the common challenges in the path planning of autonomous mobile robots,such as global path optimization and obstacle avoidance,an improvement to the traditional A*algo-rithm is proposed.Subsequently,a fusion path planning solution combining the improved A* algo-rithm and the optimized TEB algorithm is introduced.First,to tackle the problems of collision risks,low search efficiency,excessive redundant nodes,and poor path smoothness in the traditional A* al-gorithm,a safety distance is set in the path planning process.A dynamic adjustment function is de-signed to regulate the weight of the heuristic function.The collinear nodes are removed using the e-qual slope principle,and a Bézier curve algorithm is employed for path smoothing.Next,to handle the potential collision risk from unknown obstacles in local path planning,the TEB algorithm is opti-mized through parameter configuration.On this basis,the improved A*algorithm is combined with the optimized TEB algorithm to design a fusion path planning solution.Finally,simulation experi-ments verify that the improved A*algorithm significantly enhances path planning efficiency,safety,and smoothness.The feasibility and practicality of the fusion algorithm are confirmed through autono-mous navigation experiments.The study demonstrates that the proposed algorithm can not only effec-tively plan optimal paths but also adjust the path promptly when encountering unforeseen obstacles.
Keywords：autonomous mobile robotpath planningA* algorithmteb algorithmfusion algorithm
Publication Date：2025-04-25
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 24-33 )