运动规划
移动机器人
算法
路径(计算)
避障
计算机科学
机器人
钥匙(锁)
顶点(图论)
障碍物
人工智能
计算机视觉
图形
计算机安全
理论计算机科学
法学
政治学
程序设计语言
出处
期刊:Journal of physics
[IOP Publishing]
日期:2022-08-01
卷期号:2330 (1): 012003-012003
被引量:4
标识
DOI:10.1088/1742-6596/2330/1/012003
摘要
Abstract For mobile robot autonomous navigation, path planning algorithm matters. For the reason that traditional A* algorithm is unable to achieve the global path planning perfectly and avoid unknown obstacles at the same time, the mobile robot algorithm combining improved A* with adaptive DWA was proposed for path planning. Firstly, safe distance judgment is added in A* algorithm to avoid the problem that the path crosses the vertex of obstacle diagonally. Secondly, the dynamic tangential method is used to smooth the path of A* algorithm, which is more consistent with the actual motion curve of mobile robot. Then, the path key points explored by improved A* algorithm are extracted as intermediate target points of the velocity adaptive DWA algorithm. Unknown obstacles avoidance based on the optimal global path planning is realized. Finally, the proposed fusion algorithm’s feasibility is verified through mobile robot ROS simulation.
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