Path Planning for an Omnidirectional Mobile Robot Based on Modified A * Algorithm with Energy Model

被引：2
|
作者：
Liu, Cong [1 ]
Xu, Xiaobin [1 ,2 ,3 ]
Li, Xinhong [3 ]
Pan, Zhijie [1 ]
Hu, Kai [1 ]
Shu, You [4 ]
机构：
[1] Hohai Univ, Coll Mech & Elect Engn, Changzhou 213022, Peoples R China
[2] Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, Nanjing 210016, Peoples R China
[3] Changzhou Changgong Elect Technol Co Ltd, Changzhou 213001, Peoples R China
[4] Jiangsu Lanling Chem Grp Co Ltd, Changzhou 213001, Peoples R China
来源：
PROCEEDINGS OF THE 2021 IEEE INTERNATIONAL CONFERENCE ON PROGRESS IN INFORMATICS AND COMPUTING (PIC) | 2021年
关键词：
Omnidirectional mobile robot; energy consumption model; improved A* algorithm Introduction;
D O I：
10.1109/PIC53636.2021.9687067
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A path planning framework for an omnidirectional mobile robot based on modified A * algorithm with energy model is proposed. The kinematic model of the omnidirectional mobile robot is established, and the energy consumption model of the omnidirectional mobile robot during motion is established based on the detailed derivation of formulas and used to improve the A* algorithm. The derived results show that the extra power consumed in steering movement is only related to the steering angle.
引用
收藏
页码：462 / 468
页数：7
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