Global Path Planning Algorithm for Mobile Robot Based on Ray and Obstacle Contour
Aiming at the problems of global path planning algorithm A∗,which has many inflection points,poor path quality and low search efficiency when the map is large,a planning algorithm based on the ray model and obsta-cle contour is proposed.Firstly,the planning process is divided into two parts:bias expansion and obstacle contour search.Secondly,the ray model is used for rapid expansion in the bias expansion stage,and a search method based on A∗is proposed to integrate the grid orientation information in the expansion stage along the obstacle contour.Then,a new close list setting method is proposed to ensure the feasibility of the algorithm and improve the search efficiency.Finally,the feasibility and effectiveness of the proposed algorithm were verified by experimental comparison in the simulation environment set in Pycharm.Compared with A∗,this algorithm has better search efficiency and better path quality.
Global path planningRay ModelObstacle contourDirection information
NETL
NSTL
万方数据
维普
