Research on the Path Planning Algorithm of Mobile Robot

被引：6
|
作者：
Gao, Yingding [1 ]
Hu, Tianyang [1 ]
Wang, Yinchu [1 ]
Zhang, Yang [1 ]
机构：
[1] Jilin Univ, Coll Instrumentat & Elect Engn, Jilin 130012, Jilin, Peoples R China
来源：
2021 13TH INTERNATIONAL CONFERENCE ON MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION (ICMTMA 2021) | 2021年
关键词：
Mobile Robot; Local Path Planning; Artificial Potential Field Method; Fast Random Search Tree Algorithm; Two-Way Fast Random Search Tree Algorithm;
D O I：
10.1109/ICMTMA52658.2021.00102
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Aiming at the problem of local deadlock and path redundancy when mobile robots are running in a complex and unknown environment, specific application design and simulation comparisons of several existing local path planning methods are carried out, and the planning process The problems that have arisen propose solutions. The principle and usage scenarios of three local path planning algorithms, artificial potential field method, Rapid-exploration Random Tree and bidirectional Rapid-exploration Random Tree are analyzed emphatically. Simulation tests are carried out on the MATLAB platform to verify the feasibility of the designed method Sex and effectiveness. This paper optimizes the RRT algorithm to get the B-RRT algorithm, so that the calculation time of path planning is greatly shortened.
引用
收藏
页码：447 / 450
页数：4
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