Robot jump point search algorithm based on artificial potential field method

Abstract

The invention provides a robot jump point search algorithm based on an artificial potential field method, and provides the jump point search algorithm based on the artificial potential field method in order to solve the problem that the efficiency is low when a jump point search algorithm is used for path planning. According to the algorithm, the direction pointed out under the resultant force of the gravitational force and the repulsive force of an artificial potential field method and the direction obtained on the basis of father nodes in jump point search traversal are combined to serve as the traversal direction to search jump points, so that unnecessary traversal of jump point search is reduced, and the efficiency of the algorithm during path planning is improved; the defect that an artificial potential field method is caught in a local minimum value point is effectively overcome through the characteristics of the jump point search method; and finally, due to the fact that the path finally found by the algorithm is not smooth enough and sharp points exist in part of the path, the situation that the mobile robot suddenly stops and the speed fluctuation is large in application in reality is caused, and on the basis of the algorithm, a cubic B-spline curve is introduced to smoothly optimize the path at the inflection point. The algorithm can find a smooth path more quickly, and finally the mobile robot can reach a target point more stably and more quickly.

Description

technical field [0001] The invention relates to a robot jump point search algorithm based on an artificial potential field method, belonging to the technical field of robot control. Background technique [0002] The ultimate goal of mobile robot path planning is to find a path from the starting point to the target point, but the premise is to ensure that the mobile robot will not collide with obstacles when moving to the target point. In addition, under the premise of satisfying this goal, we also need to solve how to spend the shortest time and the lowest cost to find the optimal path with the shortest distance. Commonly used algorithms for shortest path planning on two-dimensional grid maps include Dijkstra algorithm, A-Star algorithm, jump-point search algorithm, and so on. Moreover, for the two-dimensional grid map, how to make the mobile robot find the optimal path more efficiently has always been a problem to be solved by those skilled in the art. Contents of the in...

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Problems solved by technology

[0003] The object of the present invention is to provide a robot jump point search algorithm based on the artificial potential field method, in order to solve the problem of low efficiency when using the jump point search algorithm path planning and the local optimal solution of the artificial potential field method in operation The problem

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