This paper presents a new robot path planning algorithm based on the basic A+ . Adopting the TWICE-PATH-PLANNING strategy, the robot can re-plan its path effectively when falling across an unknown obstacle in the given environment; adopting the CHILD-NODE-GENERATION strategy based on priority value , the path planner can better deal with the width information of the robot. The new algorithm is proposed based on the above two strategies. In the end, the experimental results show the validity and reliability of the algorithm in both MobileSim simulator and Pioneer P3DX real-world robot. This new algorithm extends the original application regions, improves the intelligence of the robot, and enhances the real-time path planning ability of the robot.%本文提出了一种未知环境下基于A*的机器人路径规划算法.采用基于A*算法的二次路径规划策略,机器人在遇到未知障碍物的情况下能有效地进行路径重规划；采用基于优先级的子节点生成策略,考虑了机器人的宽度信息,使规划路径能在真实的物理机器人上得到执行；最后,通过MobileSim仿真平台和Pioneer P3DX真实机器人验证了此算法的有效性和可靠性.基于A*的新算法拓宽了原算法的适用范围,提高了机器人的智能水平和实时路径规划能力.
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