A Path Planning Method for the Spherical Amphibious Robot Based on Improved A-star Algorithm

In order to improve the autonomous navigation ability and mobility of spherical amphibious robot. A multiple target points path planning algorithm based on global static planning was proposed. Firstly, the A* algorithm is optimized for bidirectional smoothness, and the distance of each path is calculated. Secondly, according to this distance, the ant colony algorithm is used to sort multiple targets, and the global optimal path is planned. Finally, a series of simulations and experiments verify the proposed path planning method.The experimental results show that the robot successfully avoids obstacles from the starting point to the end point. On the one hand, the path distance of the robot is greatly shortened, on the other hand, the robot completes the path planning of multiple target points.