影响因子：4.2
发表刊物：Chinese Journal of Mechanical Engineering.
刊物所在地：中国
关键字：global path planning, mobile robot, expanding disconnected graph, edge node, offset
摘要：Existing mobile robots mostly use graph search algorithms for path planning, which sufer from relatively low planning efciency owing to high redundancy and large computational complexity. Due to the limitations of the neighborhood search strategy, the robots could hardly obtain the most optimal global path. A global path planning algorithm, denoted as EDG*, is proposed by expanding nodes using a well-designed expanding disconnected graph operator (EDG) in this paper. Firstly, all obstacles are marked and their corners are located through the map pre-processing. Then, the EDG operator is designed to fnd points in non-obstruction areas to complete the rapid expansion of disconnected nodes. Finally, the EDG* heuristic iterative algorithm is proposed. It selects the candidate node through a specifc valuation function and realizes the node expansion while avoiding collision with a minimum ofset. Path planning experiments were conducted in a typical indoor environment and on the public dataset CSM. The result shows that the proposed EDG* reduced the planning time by more than 90% and total length of paths reduced by more than 4.6%. Compared to A*, Dijkstra and JPS, EDG* does not show an exponential explosion efect in map size. The EDG* showed better performance in terms of path smoothness, and collision avoidance. This shows that the EDG* algorithm proposed in this paper can improve the efciency of path planning and enhance path quality.
论文类型：期刊论文
一级学科：机械工程
文献类型：期刊
字数：9295
是否译文：否
发表时间：2024-03-28
收录刊物：SCI
发布期刊链接：https://doi.org/10.1186/s10033-024-01014-8