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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 8

Path planning solution based on topology map and A* algorithm

Wang Tianqi1,2
Yang Liying1
Huang Zhaoxiong1
He Yuqing1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2. University of Chinese Academy of Sciences, Beijing 100049, China
DOI: 10.19734/j.issn.1001-3695.2025.01.0019

Abstract

In order to solve the problems of long search time and sharp increase in computing resource consumption when searching for paths on large-size and complex environment grid maps, this paper proposes an extraction method of topological map based on computer geometry, and using the path solution based on the graph search method. Firstly, this paper preprocesses the map, and represents the obstacles by polygons, then extracts a set of point sets from the map. Then, to apply the point set to the Delaunay segmentation algorithm to segment the map to obtain a set of geometric. Then, to remove geometry within the obstacle from the set and at the same time converting the new set into a topological map. Finally, to use the topology map for A* path search algorithm. This paper used Matlab and GAZEBO to set up a variety of simulation environments for testing, the results showed that this method reduced significantly the search time of the A* algorithm based on Delaunay segmentation topological map compared with that of the A* algorithm based on grid map, which is 73.27% in the 50×50 map, and compared with other topological map studies. Therefore, the use of computer geometry to generate topological maps in the simulation environment, and the use of discrete points and non-overlapping edges to express the environmental information in the space can effectively solve the problems of long search time and high computing resource consumption of A* path search algorithm in grid maps.

Foundation Support

新疆自治区重点研发计划(2023B01029-3)
辽宁省科技厅(DepartmentofScienceTechnologyofLiaonin)(2023020427-JH1/104)
中科院青促会优秀会员(YouthInnovationPromotion)(Y2022065)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2025.01.0019
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 8

Publish History

[2025-04-17] Accepted Paper

Cite This Article

王天琦, 杨丽英, 黄朝雄, 等. 一种基于拓扑地图与A*算法的路径规划求解方法 [J]. 计算机应用研究, 2025, 42 (8). (2025-04-17). https://doi.org/10.19734/j.issn.1001-3695.2025.01.0019. (Wang Tianqi, Yang Liying, Huang Zhaoxiong, et al. Path planning solution based on topology map and A* algorithm [J]. Application Research of Computers, 2025, 42 (8). (2025-04-17). https://doi.org/10.19734/j.issn.1001-3695.2025.01.0019. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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