Variable search domain improved A-star algorithm for AMR in warehouse environments

In order to reduce autonomous mobile robot path planning time and improve efficiency in the warehouse environment, the variable search domain improved A-star algorithm is proposed. Firstly, a raster map matrix is created based on the actual map, then inflection point features and path information are extracted to set up a search template, and finally, different search steps and search directions are adaptively obtained from the search template according to the location information of the nodes to be expanded, simplifying the search space and improving the computational efficiency of the A-star algorithm. The traditional A-star algorithm and the improved A-star algorithm are compared and tested respectively. The simulation test results show that the variable search domain A-star algorithm proposed in this paper has fewer traversing nodes, shorter search time, and better performance.