High Power Laser and Particle Beams, Volume. 37, Issue 6, 069002(2025)

Automatic path planning of robot for integrated installation of large laser device

Jing Chen, Weifeng Du, Guoqing Pei, Zhao Xiong, Ke Yang*, and Hai Zhou
Author Affiliations
  • Laser Fusion Research Center, CAEP, Mianyang 621900, China
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    Figures & Tables(11)
    2-D raster map model of A* algorithm
    Search path based on traditional A* algorithm
    Search path based on A* algorithm with limited walking direction
    Search path based on A* algorithm of weighted Manhattan distance
    Schematic diagram of mobile robot going straight and turning
    Path planning result (=2,=1,m=5)路径规划结果(=2,=1,m=5)
    Obstacles of simple map
    The 50*50 complex map used in this paper
    Path planning results of quadratic optimization A* algorithm under different adjustment parameters in complex maps
    • Table 1. Performance comparison between improved A* algorithm and traditional A* algorithm in simple map

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      Table 1. Performance comparison between improved A* algorithm and traditional A* algorithm in simple map

      experimental group numberalgorithmtraversed nodesturn timespath length
      1traditional A* algorithm64827.21
      2A*-1 algorithm(${\lambda _1}$=${\lambda _2}$=1,m=0)1751334
      3A*-1* algorithm(${\lambda _1}$=${\lambda _2}$ =1,m=1)199636
      4A*-2 algorithm(${\lambda _1}$=2,${\lambda _2}$=1,m=0)961134
      5A*-2* algorithm(${\lambda _1}$=2,${\lambda _2}$=1,m=2)122636
    • Table 2. Statistics of path planning results of quadratic optimization A* algorithm under different adjustment parameters in complex map

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      Table 2. Statistics of path planning results of quadratic optimization A* algorithm under different adjustment parameters in complex map

      experimental group numberalgorithmtraversed nodesnumber of turnspath length
      1-1A*-1 algorithm(${\lambda _1}$=${\lambda _2}$=1,m=0)12792998
      1-2A*-1* algorithm(${\lambda _1}$=${\lambda _2}$=1,m=1)12171698
      2-1A*-2 algorithm(${\lambda _1}$=1,${\lambda _2}$=2,m=0)33633106
      2-2A*-2 algorithm(${\lambda _1}$=1,${\lambda _2}$ =5,m=0)24533106
      2-3A*-2* algorithm(${\lambda _1}$=1,${\lambda _2}$=2,m=2)36727104
      2-4A*-2* algorithm(${\lambda _1}$=1,${\lambda _2}$=5,m=5)31031106
      2-5A*-2* algorithm(${\lambda _1}$=1,${\lambda _2}$=2,m=5)37627104
      3-1A*-2 algorithm(${\lambda _1}$=5,${\lambda _2}$= 1,m=0)27229110
      3-2A*-2* algorithm(${\lambda _1}$=5,${\lambda _2}$=1,m=5)33927114
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    Jing Chen, Weifeng Du, Guoqing Pei, Zhao Xiong, Ke Yang, Hai Zhou. Automatic path planning of robot for integrated installation of large laser device[J]. High Power Laser and Particle Beams, 2025, 37(6): 069002

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    Paper Information

    Category: Advanced Interdisciplinary Science

    Received: Oct. 15, 2024

    Accepted: Apr. 24, 2025

    Published Online: Jun. 23, 2025

    The Author Email: Ke Yang (famousky@126.com)

    DOI:10.11884/HPLPB202537.240360

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