Real-time obstacle avoidance algorithm based on pigeon-inspired optimization

被引：0
|
作者：
Li S. [1 ]
He J. [1 ]
Ao H. [1 ]
Liu Y. [1 ]
机构：
[1] College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2021年 / 47卷 / 02期
关键词：
Circle Sector Expansion plus (CSE+) method; Local path planning; Obstacle avoidance; Path planning; Pigeon-inspired optimization algorithm;
D O I：
10.13700/j.bh.1001-5965.2020.0198
中图分类号：
学科分类号：
摘要：
In order to ensure that the mobile robot can reach the target position without collisions, this paper proposes a real-time obstacle avoidance algorithm that integrates the pigeon-inspired optimization into the Circle Sector Expansion plus (CSE+) method. This algorithm includes a judgment mechanism to evaluate the distribution of obstacles. When the obstacles are densely distributed, the safest path will be selected. Otherwise, the pigeon-inspired optimization will be used to find an optimal position as the next target position in the safe range. In addition, a search tree is used to detect and avoid the dead-end situation. The simulation results show that this algorithm can improve the efficiency of path planning, the effect is more obvious when the obstacles are sparsely distributed, the dead-end situation can be detected, and the robot can pass through the narrow and long corridors. © 2021, Editorial Board of JBUAA. All right reserved.
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页码：359 / 365
页数：6
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