Indoor mobile robot path planning method fusing improved A* and DWA algorithms

A mobile robot, path planning technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of optimal, only considering, unable to achieve global path, etc., to improve algorithm efficiency, Path smoothing effect

Pending Publication Date: 2022-06-28
NANJING UNIV OF TECH
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AI Technical Summary

Problems solved by technology

However, the improved DWA algorithm cannot achieve the global path optimization while realizing robot obstacle avoidance.
[0006] The above improved algorithms only consider the global path optimization or local obstacle avoidance in the mobile robot navigation process.

Method used

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  • Indoor mobile robot path planning method fusing improved A* and DWA algorithms
  • Indoor mobile robot path planning method fusing improved A* and DWA algorithms
  • Indoor mobile robot path planning method fusing improved A* and DWA algorithms

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Embodiment Construction

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] In order that the technical solution of the present invention can be fully understood, the A* algorithm is briefly introduced as follows:

[0027] The traditional A* algorithm search principle is to add the starting point to the open list, add this point as the parent node to the close list, and search for its adjacent reachable nodes to add to the open list. Calculate the cost of the nodes in the open list according to the cost function, select the node with the lowest cost as the next parent node and put it in the close list, search for the reachable node of the parent node again and calculate its cost, and cycle in turn until the parent node is the position of the target point .

[0028] The cost function of the traditional A* algorithm is: F(n)=G(n)+H(n). In the formula, n represents the current node, and F(n) represents the cost fun...

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Abstract

The invention discloses an indoor mobile robot path planning method fusing an improved A * algorithm and a DWA algorithm, and the method comprises the steps: S1, optimizing a cost function of a conventional A * algorithm, introducing an environment information obstacle rate Q into the cost function, changing the weight of a heuristic function H (n), and achieving the self-adaptive adjustment of the heuristic function H (n); s2, path smoothing optimization: solving the problem of redundant collinear nodes and turning points by using a key point selection strategy, and reserving necessary path nodes to obtain a global path only having key points; and S3, constructing an evaluation function combined with key point information, and then applying a DWA algorithm to enable local path planning to follow a global path contour, so that the path is smoother, and real-time obstacle avoidance is realized. According to the method, the optimal path can be quickly found, dynamic and static obstacles appearing in the environment can be avoided in time on the basis of global optimum, and the adaptive capacity of the indoor mobile robot in the complex environment is improved.

Description

technical field [0001] The invention relates to the field of mobile robot navigation and path planning, in particular to an indoor mobile robot path planning method integrating improved A* and DWA algorithms. Background technique [0002] At present, path planning is one of the frontier topics in the field of mobile robot research. Its purpose is to avoid obstacles in a complex environment and find an optimal path from the starting point to the end point. Path planning technology is also the core technology for mobile robots to achieve autonomous navigation. In order to solve the problem of path planning, a large number of domestic and foreign scholars have studied this topic and proposed various algorithms. [0003] Path planning can be divided into two categories: global path planning and local path planning. Among them, global path algorithms include A* algorithm, Dijkstra algorithm and RRT algorithm, etc.; local path algorithms include DWA algorithm, particle swarm algo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0276
Inventor 倪受东方洋吴方亮朱赤
Owner NANJING UNIV OF TECH
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