A Robot Dynamic Path Planning Method Combining A* Algorithm and VFH Obstacle Avoidance Algorithm

Abstract

The invention discloses a dynamic path planning method for a robot combined with an A* algorithm and a VFH obstacle avoidance algorithm. The environment in which the robot is located is expressed as a grid map, and a global initial path is searched out in the grid map by using the A* algorithm; The robot moves to the target point along the initial path, and judges whether it encounters an obstacle, and uses the VFH algorithm to avoid obstacles, otherwise it continues to move to the target point; when avoiding obstacles, first set the stage target point along the initial path, and generate the current The obstacle avoidance path between the position and the stage target point is moved forward one step, and the current position is updated to determine whether there is any occlusion between the robot's current position and the stage target point. If there is, recalculate the obstacle avoidance path. Step forward to the target point of the stage, and cycle until the robot reaches the target point of the stage and returns to the initial path to continue moving towards the end point. The combination of the two algorithms improves the efficiency of robot path planning and ensures the autonomous navigation ability of the robot in indoor dynamic environments.

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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