Path planning based on motion constraints for mobile robot

To solve the problems in A∗ algorithm path planning,such as redundant turning points,low security and inconsistency with non-holonomic kinematics model of mobile robots,a path planning algorithm based on motion constraints was proposed.The path points planned by A∗ algorithm were moved to ensure a proper distance from the obstacles.Then,the nodes between the accessible path points were eliminated to reduce redundant steering,thus the necessary turning points were obtained.Finally,the robot motion constraints were considered for quadratic path planning,and the turning point pose was taken as the local target to guide the hybrid A∗ algorithm for path planning.The results showed that the safety distance of the improved algorithm was increased by 65% by comparing with the A∗ algorithm,the path with pose continuity and had no redundant steering,which could ensure the smooth,efficient and safe movement of the robot. © 2023 CIMS. All rights reserved.