避障
运动规划
移动机器人
比例(比率)
计算机科学
钥匙(锁)
快速通道
任意角度路径规划
机器人
路径(计算)
网格
跟踪(教育)
实时计算
人工智能
数学
计算机网络
心理学
教育学
物理
几何学
计算机安全
量子力学
作者
Xunyu Zhong,Jun Tian,Huosheng Hu,Xiafu Peng
标识
DOI:10.1007/s10846-019-01112-z
摘要
When mobile robot used in large-scale dynamic environments, it face more challenging problems in real-time path planning and collision-free path tracking. This paper presents a new hybrid path planning method that combines A* algorithm with adaptive window approach to conduct global path planning, real-time tracking and obstacles avoidance for mobile robot in large-scale dynamic environments. Firstly, a safe A* algorithm is designed to simplify the calculation of risk cost function and distance cost. Secondly, key path points are extracted from the planned path which generated by the safe A* to reduce the number of the grid nodes for smooth path tracking. Finally, the real-time motion planning based on adaptive window approach is adopted to achieve the simultaneous path tracking and obstacle avoidance (SPTaOA) together the switching of the key path points. The simulation and practical experiments are conducted to verify the feasibility and performance of the proposed method. The results show that the proposed hybrid path planning method, used for global path planning, tracking and obstacles avoidance, can meet the application needs of mobile robots in complex dynamic environments.
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