内容：
移动机器人路径规划一直是移动机器人领域里的重要技术问题。A*算法在最优路径搜索上有着比较成功的运用,但在栅格环境下的A*算法也存在着折线多、转折角度大等问题。在考虑移动机器人的实际工作环境及相关运动参数后,这些问题都将大大地影响移动机器人的工作效率。在对以上问题进行分析后提出了一种基于Bezier曲线与A*算法融合的方法来实现移动机器人的路径规划,再通过MATLAB、V-REP仿真工具来实现Bezier_A*融合算法与平滑A*算法及A*算法的对比。通过Bezier_A*融合算法使得机器人在工作中的寻优能力、路径规划效率都得到较大的提高。Mobile robot path planning has always been an important technical problem in the field of mobile robots. A * algorithm has a more successful application in the optimal path search, but the A * algorithm in the grid environment also has many problems such as folding line and turning angle. After considering the actual working environment of the mobile robot and the related motion parameters, these problems will greatly affect the working efficiency of the mobile robot. Based on the analysis of the above problems, a new method based on Bezier curve and A * algorithm is proposed to realize the path planning of mobile robot. Then, the Bezier_A * fusion algorithm and the smoothing A * algorithm are realized by MATLAB and V-REP simulation tools. A * algorithm comparison. Through the Bezier_A * fusion algorithm makes the robot in the work of the search ability, path planning efficiency has been greatly improved.

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