[1]XIAO Guobao,YAN Xuanhui.A path planning algorithm based on improved Theta * for mobile robot[J].CAAI Transactions on Intelligent Systems,2013,8(1):58-65.[doi:10.3969/j.issn.1673-4785.201208032]
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A path planning algorithm based on improved Theta * for mobile robot

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 8 Number of periods: 2013 1 Page number: 58-65 Column: 学术论文—智能系统 Public date: 2013-03-25
Title:
A path planning algorithm based on improved Theta * for mobile robot
Author(s):
XIAO Guobao;  YAN Xuanhui
School of Mathematics and Computer Science, Fujian Normal University, Fuzhou 350007, China
Keywords:
mobile robot;  path planning;  heuristic function;  A * algorithm;  Theta * algorithm;  PS_Theta * algorithm
CLC:
TP242.6
DOI:
10.3969/j.issn.1673-4785.201208032
Abstract:
Current research indicates the Theta * algorithm has improved in terms of solving the path planning for a mobile robot. First, the repulsion, which is generated by the obstacles to the robot, has been added to the heuristic function as a penalty function. Based on reasonably choosing the weight of the penalty function, the heuristic function was also identified. Due to this, the Theta * algorithm, a variant of A * algorithm, was improved, thereby creating a smooth route for the PS_Theta * algorithm. In the end, a test was conducted and analyzed, not only in the 2D coordination simulated environment but also in the 3D complex environment, and the data validated the algorithm reasonably and effectively.
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