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VNS-BA: An Improved Bidirectional A Path Planning Algorithm Based on Variable Neighborhood Search.

Peng Li¹, Ying Li¹, Xuesong Dai²

¹School of Electronic and Information Engineering, Nanjing University of Information Science and Technology, Nanjing 210044, China.

Sensors (Basel, Switzerland)

|November 9, 2024

Summary

This study introduces VNS-BA*, an improved algorithm for global path planning. It significantly reduces path turns and enhances planning efficiency compared to the standard A* algorithm.

Keywords:

A* algorithm bidirectional search global planning mobile robot path planning

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Area of Science:

Robotics
Artificial Intelligence
Computer Science

Background:

The A* algorithm is widely used for path planning but suffers from issues like excessive turns and inefficiency.
Existing A* improvements do not fully address these limitations.

Purpose of the Study:

To develop an improved bidirectional A* algorithm for global path planning.
To enhance path quality and planning efficiency by minimizing turns and redundant searches.

Main Methods:

Proposes VNS-BA*, integrating a variable neighborhood search (VNS) with bidirectional A*.
Employs an 8-11-13 neighborhood search for node expansion.
Optimizes bidirectional search using opposite path nodes and the global target.
Applies cubic spline interpolation for path smoothing.

Main Results:

VNS-BA* significantly reduces the number of path turns and turn angles.
The algorithm demonstrates improved planning efficiency over A* and its variants.
Validated effectiveness across diverse map environments.

Conclusions:

VNS-BA* offers a superior approach to global path planning.
The algorithm effectively overcomes the limitations of traditional A*.
Achieves smoother, more efficient paths with fewer turns.