Dynamic path planning method of robot by combining A* algorithm and VFH obstacle avoiding algorithm

Abstract

The invention discloses a dynamic path planning method of a robot by combining an A* algorithm and a VFH obstacle avoiding algorithm. The method comprises steps of representing the environment where the robot is located into a grid map and searching a global initial path in a grid map by use of the A* algorithm; when the robot moves towards a target point along the initial path, judging whether the robot comes across an obstacle, if yes, using the VFH algorithm to carry out obstacle avoidance, or else allowing the robot to move towards the target point; during obstacle avoidance, firstly, setting a stage target point in the initial path, generating an obstacle avoiding path between the current position and the stage target point, moving for one step forwards, updating the current position,judging whether the space between the current position of the robot and the stage target point is shielded, if yes, re-calculating the obstacle avoiding path, or else, allowing the robot to move forone step forwards towards the stage target point along the obstacle avoiding path; and carrying out circulation until the robot reaches the stage target point, returns back to the initial path and continues to move towards a destination. By combining the two algorithms, efficiency of path planning of the robot is improved; and the autonomous navigation ability of the robot in the indoor dynamic environment is ensured.

Description

technical field [0001] The invention relates to a robot dynamic path planning method combined with an A* algorithm and a VFH obstacle avoidance algorithm, and belongs to the technical field of robot autonomous navigation. Background technique [0002] With the continuous development of robot technology, more and more robots are used to provide various services for people, and even replace people's work. Autonomous navigation is the key for robots to realize intelligence and play a role, and path planning is an important component of robot automatic navigation capabilities. According to the known degree of environmental information, path planning can be divided into global path planning and local path planning. The path planning when the environment information is completely known is called global path planning; the path planning when the environment information is unknown or partly unknown is called local path planning. In robot technology, when the global path planning al...

AI Technical Summary

Problems solved by technology

In robot technology, when the global path planning algorithm is used for path planning, due to the lack of dynamic obstacle information in the acquired environmental information, it cannot adapt to the changing environment; when the local path planning algorithm is used for path planning, the real-time performance is relatively high. However, due to the lack of global information, it is not easy to plan the optimal path

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