文章基本信息

标题：Rapid path planning algorithm for mobile robot in dynamic environment:
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作者：Hong-mei Zhang ; Ming-long Li
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2017
卷号：9
期号：12
页码：1-12
DOI：10.1177/1687814017747400
语种：English
出版社：Sage Publications Ltd.
摘要：Searching the lowest-cost path through a graph is central to many problems, including path planning for a mobile robot. By combining Dijkstra’s algorithm, A* algorithm, and rolling window principle, a new rapid path planning algorithm for a mobile robot in dynamic environment is proposed. First, Dijkstra’s algorithm is applied to find an initial path from the ini?tial state to the goal. As a robot moves along the path, if a possible collision is predicted, a local optimal target state within the detection range of the sensors is selected using the rolling window principle. Then, an optimal path from the robot’s current location to this local target is searched through A* algorithm and a new path which leads the robot to move from current location to the goal is obtained. Compared to other algorithms, such as ant colony optimization algo?rithm, A* algorithm, and D* algorithm, the proposed algorithm can always find an optimal path during re-planning and at the meantime greatly reduce the re-planning time. The simulation results prove the feasibility and effectiveness of the proposed algorithm.
关键词：Path planning; dynamic environment; Dijkstra’s algorithm; A* algorithm; rolling window