Mobile robot autonomous navigation method based on A star algorithm

Abstract

A mobile robot autonomous navigation method based on an A star algorithm comprises the steps that firstly, key points meeting conditions are selected from a traditional A star algorithm planning path and are connected through a straight line to generate a straight line path, and the path length is effectively reduced; then, according to kinematics constraints of the mobile robot, a starting point and an ending point meeting the kinematics constraints are calculated near a turning angle of adjacent linear paths, so that a smooth arc path is generated, and the mobile robot can follow the path more stably; and finally, the current state and path information of the mobile robot are obtained, the speed of the mobile robot is calculated after the interval where the mobile robot is currently located is judged, and therefore the mobile robot is controlled to move to the target point along the path, safety of the mobile robot is effectively controlled, and meanwhile it is guaranteed that the mobile robot efficiently moves to the target point along the path.

Description

technical field [0001] The invention relates to the technical field of robot navigation, in particular to an autonomous navigation method for a mobile robot based on an A-star algorithm. Background technique [0002] With the development of science and technology and the improvement of people's living standards, mobile robots have been widely used in military, agricultural, medical and other fields. People's requirements for mobile robots are also getting higher and higher, and the working environment of mobile robots is also becoming more and more Complex, how to complete autonomous navigation in complex indoor environments is an important research issue in this field, especially path planning and motion control are the key to autonomous navigation of mobile robots. [0003] The A star algorithm is a heuristic search algorithm commonly used in the field of path planning. It combines the advantages of the Dijkstar algorithm and the BFS algorithm. When searching for a path, i...

AI Technical Summary

Problems solved by technology

However, the traditional A-star algorithm has the following problems: (1) The A-star algorithm cannot guarantee the optimal solution; (2) The A-star algorithm does not consider the robot kinematics constraints, and the planned path has many broken lines and corners, which is not smooth enough, and the robot Unreachable due to kinematic constraints

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