Abstract
The traditional A* algorithm uses Euclidean distance as the heuristic function in the path planning of mobile disinfection robot. This method may lead to the generation of a certain number of useless nodes, which makes the search time longer. To solve this problem, this paper proposes an improved A* algorithm, starting from the heuristic function, adding additional value to the heuristic function, using the cosine value of the angle as the additional parameter. This method effectively reduces the comparison of useless points with the same F value, and significantly reduces the number of visited nodes. The simulation results show that the improved A* algorithm can significantly improve the path planning efficiency of mobile disinfection robot.
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