An optimal path planning method for mobile robot
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摘要: 针对移动机器人路径规划效率低的问题,提出了一种基于改进的最短路径快速算法的移动机器人最优路径规划方法。该方法在障碍Voronoi图基础上根据规则将起始点与终点加入该图以得到无碰撞路径图,然后采用改进的最短路径快速算法搜索从起始点到终点的最优无碰撞路径。仿真结果表明,采用该改进算法后,移动机器人能够沿着最优无碰撞路径前进,快速达到终点。Abstract: In view of problem of low efficiency of path planning for mobile robot, an optimal path planning method for mobile robot based on improved shortest path faster algorithm was proposed. On the basis of rules, the method addes start point and terminal point to Voronoi diagram with obstacles, so as to obtain non-collision path graph, then uses the improved shortest path faster algorithm to search an optimal non-collision path between the start point and the terminal point. The simulation result shows that the mobile robot can reach the terminal point rapidly along with the optimal non-collision path by use of the improved algorithm.
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Key words:
- mobile robot /
- path planning /
- Voronoi diagram /
- shortest path faster algorithm
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