Improving A-Based Path Planning through Interpolation and Curve Smoothing with Collision-Aware Correction

DOI

10.2991/978-94-6463-986-5_42How to use a DOI?

Keywords

Path Planning; A-star; B-Spline Smoothing; Autonomous Navigation

Abstract

With the development of automatic navigation technology, path planning algorithms play a vital role in mobile robots and intelligent transportation systems. Although the traditional A* algorithm is stable and efficient, the paths it generates often contain numerous turning points and lack smoothness, making it difficult to satisfy the continuity and feasibility requirements of real-world trajectory tracking. To address these limitations, this study proposes an integrated optimization framework that combines interpolation, B-spline smoothing, and legality verification based on the traditional A* path. The approach begins with initial path generation using the A* algorithm on a discrete grid map, followed by floating-point interpolation and curve fitting to improve continuity, and a grid-level collision detection mechanism to guarantee path feasibility. Experimental evaluations compare the original and optimized paths in the light of length, number of turning points, and computation time. Results prove that the proposed method markedly shortens the path length, reduces turning points by more than 50%, and produces high-quality, smooth trajectories suitable for practical navigation applications.

Copyright

© 2026 The Author(s)

Open Access

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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TY  - CONF
AU  - Weiting Song
PY  - 2026
DA  - 2026/02/18
TI  - Improving A-Based Path Planning through Interpolation and Curve Smoothing with Collision-Aware Correction
BT  - Proceedings of the 2025 International Conference on Electronics, Electrical and Grid Technology (ICEEGT 2025)
PB  - Atlantis Press
SP  - 413
EP  - 421
SN  - 2352-5401
UR  - https://doi.org/10.2991/978-94-6463-986-5_42
DO  - 10.2991/978-94-6463-986-5_42
ID  - Song2026
ER  -