Path planning of mobile robot utilizing an enhanced version of the A*_TEB algorithm

To solve the problem of low quality and long path of traditional A* algorithm, A novel path planning algorithm combining improved A* algorithm with Time Elastic Band (TEB) algorithm is proposed. Firstly, enhancements are made to the traditional A* algorithm by OPENLIST updating, path de-redundancy and path smoothing. Subsequently, the kinematic modeling of the mobile robot is carried out and the TEB algorithm is used to optimize the path, which is in line with the kinematic characteristics of the mobile robot. Finally, the improved A*_TEB algorithm is improved to generate a fusion path planning algorithm and simulation and physical verification are carried out. The experimental results show that when the fusion algorithm is used for path planning, the generated global path is smooth and does not collide with obstacles and the local path meets the dynamic constraints of the robot. Compared with the traditional A* algorithm, the path is shortened by 14.6%, the planning time is shortened by 3.9% and the number of turns is reduced by 25%.