Improved path planning algorithm for mobile robots

被引：2
|
作者：
Sun, Liping [1 ,2 ]
Duan, Xiaoyu [1 ,2 ]
Zhang, Kai [1 ,2 ]
Xu, Pingan [3 ]
Zheng, Xiaoyao [1 ,2 ]
Yu, Qingying [1 ,2 ]
Luo, Yonglong [1 ,2 ]
机构：
[1] Anhui Normal Univ, Sch Comp & Informat, Wuhu 241003, Anhui, Peoples R China
[2] Anhui Normal Univ, Anhui Prov Key Lab Network & Informat Secur, Wuhu 241002, Anhui, Peoples R China
[3] Soochow Univ, Sch Comp Sci & Technol, Suzhou 215006, Peoples R China
来源：
SOFT COMPUTING | 2023年 / 27卷 / 20期
基金：
中国国家自然科学基金;
关键词：
Path planning; Rapidly exploring random tree; Adjacent-relation extension; Repetitive sequence optimization; RRT-ASTERISK; NAVIGATION; OPTIMIZATION; PSO;
D O I：
10.1007/s00500-023-08674-z
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Path planning is an NP-hard problem in road network environments. Considering that the existing path planning algorithms mainly have the problems of low smoothness and low search efficiency in generating paths in large-scale complex environments, an improved rapidly exploring random tree (RRT) algorithm is proposed in this paper. First, the grid method is applied to model the road network environment, and the RRT algorithm based on adjacency expansion is proposed to search the initial path. Then, the strategies of identifying paths and eliminating redundant paths are adopted, respectively, to further optimize the selected paths. Experimental results show that, compared with other path planning algorithms, our algorithm can achieve faster convergence speed, shorter search path, and better smoothness in a complex map of the environment.
引用
收藏
页码：15057 / 15073
页数：17
相关论文
共 50 条
  • [1] Improved path planning algorithm for mobile robots
    Liping Sun
    Xiaoyu Duan
    Kai Zhang
    Pingan Xu
    Xiaoyao Zheng
    Qingying Yu
    Yonglong Luo
    [J]. Soft Computing, 2023, 27 : 15057 - 15073
  • [2] The Path Planning of Mobile Robots Based on an Improved A* Algorithm
    Chang, Lu
    Shan, Liang
    Li, Jun
    Dai, Yuewei
    [J]. PROCEEDINGS OF THE 2019 IEEE 16TH INTERNATIONAL CONFERENCE ON NETWORKING, SENSING AND CONTROL (ICNSC 2019), 2019, : 257 - 262
  • [3] Path planning of mobile robots based on improved A* algorithm
    Huang, Yonlin
    Guo, Shijie
    [J]. 2022 ASIA CONFERENCE ON ADVANCED ROBOTICS, AUTOMATION, AND CONTROL ENGINEERING (ARACE 2022), 2022, : 133 - 137
  • [4] Dynamic path planning of mobile robots with improved genetic algorithm
    Tuncer, Adem
    Yildirim, Mehmet
    [J]. COMPUTERS & ELECTRICAL ENGINEERING, 2012, 38 (06) : 1564 - 1572
  • [5] Path planning for mobile articulated robots based on the improved A* algorithm
    Xu, Yaru
    Liu, Rong
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2017, 14 (04): : 1 - 10
  • [6] An Improved PBIL Algorithm for Path Planning Problem of Mobile Robots
    Zhang, Qingbin
    Cai, Manjun
    Zhou, Fajun
    Nie, Hairong
    [J]. INTELLIGENT DATA ENGINEERING AND AUTOMATED LEARNING - IDEAL 2013, 2013, 8206 : 85 - 92
  • [7] Path Planning for Mobile Robots Based on Improved RRT Algorithm
    Jiang, Yanglin
    Xu, Xiangrong
    Li, Yonggang
    You, Tianya
    Wang, Xiaoyi
    Wang, Zhixiong
    Wang, Haiyan
    Xu, Shanshan
    Rodic, Aleksandar
    Petrovic, Petar B.
    [J]. 2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022), 2022, : 793 - 798
  • [8] An improved genetic algorithm of optimum path planning for mobile robots
    Li, Qing
    Zhang, Wei
    Yin, Yixin
    Wang, Zhiliang
    Liu, Guangjun
    [J]. ISDA 2006: SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS DESIGN AND APPLICATIONS, VOL 2, 2006, : 637 - +
  • [9] An Improved Path Planning for Mobile Robots
    Zhou, Feng
    Gon, Lee Eun
    [J]. PROCEEDINGS OF 2013 INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CLOUD COMPUTING COMPANION (ISCC-C), 2014, : 589 - 594
  • [10] Path Planning for Mobile Robots Based on Improved Ant Colony Algorithm
    Zhang, Jie
    Pan, Xiuqin
    [J]. COGNITIVE COMPUTING, ICCC 2022, 2022, 13734 : 3 - 13
12345