Mobile robot path planning method based on improved A * algorithm

A mobile robot and path planning technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of steep paths, collisions, and obstacle collisions generated by algorithms, and achieve reasonable paths and reasonable improvements performance, collision avoidance

Active Publication Date: 2020-12-04
BEIJING INFORMATION SCI & TECH UNIV
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Problems solved by technology

[0004] Aiming at the problem of path planning for mobile robots in grid maps, the traditional A* algorithm tends to ignore the actual size of the robot, and the generated path may collide with obstacles. The purpose of this invention is to provide a mobile robot that improves the A* algorithm A path planning method that improves the problem that mobile robots are prone to collisions with the edges of obstacles
Solved the problem that the algorithm generated path was too steep in complex terrain

Method used

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  • Mobile robot path planning method based on improved A * algorithm
  • Mobile robot path planning method based on improved A * algorithm
  • Mobile robot path planning method based on improved A * algorithm

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Embodiment

[0110] In the case of barrier-free, the shortest path obtained by the traditional A* algorithm without considering the height information is as follows Figure 5 As shown by the dotted line, although this path is the shortest path in theory, it does not consider the influence of complex terrain on the mobile robot's action. In this terrain environment, the path planning problem should take more consideration of the actual terrain factors. Such as Figure 5 The solid line shows that the A* algorithm, which improves the calculation method of the cost function, considers the terrain conditions more fully than the former. Although the path is longer, the generated path is smoother and more passable.

[0111] On the basis of improving the cost function, further verify the problem of whether the plan collides with obstacles in the path under the consideration of the volume of the mobile robot itself, and discuss it when the target neighborhood nodes are in the horizontal direction a...

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Abstract

The invention relates to a mobile robot path planning method based on an improved A * algorithm. The method comprises the following steps that a three-dimensional map model of a mobile robot working environment is established by adopting a grid method; in the three-dimensional map model, neighborhood search is carried out by adopting the improved A * algorithm under the condition that part of obstacles exist in grids, so that the rationality of a generated path is improved; meanwhile, the cost value from the starting node to each neighborhood node is calculated by introducing an improved costfunction of slope information, so that the path is gentler, and the optimal path is obtained on the premise of ensuring the search efficiency. The problem that the mobile robot is prone to colliding with the edge of the obstacle is solved, and the problem that an algorithm generation path is too steep in complex terrains is solved.

Description

technical field [0001] The invention relates to the field of robot path planning, in particular to a mobile robot path planning method with an improved A* algorithm. Background technique [0002] With the development of society, the application of robots is more extensive, and the problem of path planning of mobile robots is a research hotspot at present. The problem can be described as a mobile robot to find a shortest or best safe and collision-free path from the starting point to the end point in an environment with obstacles according to a certain performance index. Commonly used path planning algorithms include RRT algorithm, ant colony algorithm, artificial potential field algorithm, SFLA, A* algorithm, etc. The RRT algorithm has high search efficiency, but the obtained path is often far from the optimal path. The convergence speed of the ant colony algorithm is relatively slow and it is easy to fall into a local optimal state. Although the artificial potential fiel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276Y02T10/40
Inventor 谷玉海周超龚志力徐小力
Owner BEIJING INFORMATION SCI & TECH UNIV
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