As robotics continues to evolve, the applications of autonomous mobile robots have expanded into complex and unknown environments.However, traditional motion planning algorithms in this environment suffer from blind search, low computational efficiency, and difficulty in obtaining safe trajectories.In this paper, a motion planning method based on the improved D* algorithm is proposed.The front-end path planning uses the D* algorithm incorporating the idea of jump point search (JPS), and the back-end trajectory optimization is based on the B-spline to construct a quadratic planning problem.Simulation experiments are conducted using Matlab and ROS-Gazebo platforms.And the results show that the improved D* algorithm takes 0.297, 0.269, and 0.191 s less time to search in a 30×30 grid map compared to the traditional D* algorithm, Focussed D*, and directed D* algorithm, respectively; and the proposed method enables the mobile robot to move safely and fast to the target point in the presence of dynamic obstacles.
关键词
移动机器人/运动规划/D*算法/JPS算法/三次B样条
Key words
mobile robot/motion plan/D* algorithm/jump point search/cubic B-spline
万方数据