Direction constraints adaptive extended bidirectional A* algorithm based on random two-dimensional map environments

Abstract

This paper focuses on the mobile robot path planning problem of optimizing the performance metrics of bidirectional A* algorithm in randomized two-dimensional map environments. An algorithm called direction constraints adaptive extended bidirectional A* (DCAE-BA*), which is an improvement of the traditional target dynamic bidirectional A* algorithm (TTD-BA*), is proposed to improve the performance metrics of the algorithm. Regarding the improvement, we propose the adaptive extension method and the direction-constrained optimal node extension method (DCONE). Simulation experiments were conducted for DCAE-BA*, TTD-BA* and traditional A* algorithm (A*) in a large number of random two-dimensional map environments. The simulation experimental scenarios consider four types of start and end point relative directions and three obstacle proportions to objectively and comprehensively evaluate the performance of the proposed algorithms. The results show that different scenarios have a significant impact on the algorithm performance metrics. Finally, the overall performance of the proposed algorithm is evaluated with a large number of experiments in “random” scenarios, and the results show that DCAE-BA* obtains significantly better search time for all three obstacle proportions, and better path length and number of expanded nodes for 10% and 25% obstacle proportions. The effectiveness of the proposed DCAE-BA* algorithm is demonstrated, which provides an essential reference for the path planning of mobile robots in a random 2D map environment.