Direction selection-based algorithm for mobile robot path planning

被引：0
|
作者：
Wu Z. [1 ]
Chen Y. [1 ,3 ]
He B. [1 ]
Lin L. [1 ]
Wang Y. [2 ,3 ]
机构：
[1] School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou
[2] College of Electrical and Information Engineering, Hunan University, Changsha
[3] National Engineering Laboratory for Robot Visual Perception and Control Technology, Changsha
来源：
Chen, Yanjie (chenyanjie@fzu.edu.cn) | 1600年 / CIMS卷 / 27期
基金：
中国国家自然科学基金;
关键词：
Computational efficiency; Direction selection; Heuristic strategy; Mobile robots; Path planning;
D O I：
10.13196/j.cims.2021.03.002
中图分类号：
学科分类号：
摘要：
To solve the problem of redundant exploration in the recursive expansion of the Fast Marching Tree algorithm (FMT*), a Direction Selection-based FMT* algorithm (DS-FMT*) was proposed. The algorithm generated a uniform distribution of direction selection lines around the extended sample to judge the surrounding obstacles and select the direction favorable for expansion as the candidate exploration direction. Then, the actual exploration direction of the sample to be expanded to the next sample was compared with the candidate exploration direction. If the angle between the actual exploration direction and the candidate exploration direction was consistent, the sample in this direction would be given priority. Meanwhile, combined with the cost comparison of samples, the recursive expansion process of FMT* was improved to reduce the computational complexity. The proposed DS-FMT* algorithm was compared with other advanced similar algorithms, which proved that DS-FMT* could improve the planning efficiency while ensuring the good-quality of the path. Besides, the effectiveness of the proposed algorithm was verified by practical application experiments of mobile robot path planning. © 2021, Editorial Department of CIMS. All right reserved.
引用
收藏
页码：672 / 682
页数：10
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