Research on path planning method of curtain wall installation robot based on improved A* algorithm

Abstract

With the development of construction robot technology, the problem of path planning has received extensive attention. Aiming at the problem that the traditional path planning algorithm cannot plan the orientation, we propose an improved A* algorithm to improve the flexibility of robot movement. Firstly, the mathematical model of the robot system is established in the two-dimensional plane, and the environment is preprocessed. Secondly, the position planning method of A* algorithm is improved to improve the search efficiency of the algorithm. Finally, the optimization method of robot position and orientation is proposed, and the optimization function is added to the A* algorithm to improve the flexibility of the whole robot system. The results show that the improved A* algorithm can shorten the path length by 40.67 % and the turning angle by 10.29 %, which verifies the correctness of the proposed method. The research results of this paper have reference and guiding significance for solving the path planning problem of curtain wall installation robot.