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Abstract
Global path planning of mobile robot aims to provide a safe and smooth path for mobile robot navigation. Traditional A * algorithm is planning the path of more turns, and not smooth. Moreover, for the u-shaped terrain, the path stick to the obstacles. Aiming at the shortcomings of A* algorithm, cosine distance is selected as the heuristic function, and direction information is added and normalized. The 36-order neighborhood search matrix is selected to solve the problem of fitting u-bend. In addition, a post-processing method based on Bessel curve is proposed. Make the planned path curvature change continuously. Simulation results show the effectiveness of the improved algorithm.
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