Abstract:Path planning is a basis of mobile robotics research. One of well-known path planning algorithm is A-Star algorithm. Considering the problem of path planning of mobile robots in room environment, based on Dijkstra algorithm, classic A-Star algorithm and some improved A-Star algorithm, this paper proposed some further optimization strategies. Using exponential decreasing method weight to the evaluation function of the current node and its parent node. In this way, we can make the algorithm approaching the target quickly when the code is far from target, because of the weight is high. And the weight decreased with the distance decreasing between the current node and target node, so it can locally search target carefully nearby the target node. And then the path was smoothed by quintic polynomial, the final path is more reasonable and convenient to control. The algorithm was verified in different environment on MATLAB. By comparing with another algorithm, the algorithm proposed in this paper performs better in aspect of the running time and the path length.