# Improved A* Algorithm for Mobile Robots under Rough Terrain Based on Ground Trafficability Model and Ground Ruggedness Model

## TL;DR

This paper improves the A* algorithm for mobile robots on rough terrain by incorporating ground flatness and ruggedness to create smoother and more optimal paths.

## Contribution

The novel contribution is integrating ground accessibility and ruggedness models into the A* algorithm to enhance path planning on rough terrain.

## Key findings

- The improved algorithm increases path smoothness on rough terrain.
- The enhanced algorithm achieves better path optimization compared to existing methods.
- Simulation and experiments confirm the effectiveness of the new approach.

## Abstract

Considering that the existing path planning algorithms for mobile robots under rugged terrain do not consider the ground flatness and the lack of optimality, which leads to the instability of the center of mass of the mobile robot, this paper proposes an improved A* algorithm for mobile robots under rugged terrain based on the ground accessibility model and the ground ruggedness model. Firstly, the ground accessibility and ruggedness models are established based on the elevation map, expressing the ground flatness. Secondly, the elevation cost function that can obtain the optimal path is designed based on the two types of models combined with the characteristics of the A* algorithm, and the continuous cost function is established by connecting with the original distance cost function, which avoids the center-of-mass instability caused by the non-optimal path. Finally, the effectiveness of the improved algorithm is verified by simulation and experiment. The results show that compared with the existing commonly used path planning algorithms under rugged terrain, the enhanced algorithm improves the smoothness of paths and the optimization degree of paths in the path planning process under rough terrain.