Research on Path Planning of Inspection Robots Integrating A* and TEB Algorithms
Aiming at the problems that the laser radar intelligent inspection robot has a complex path plan-ning for static obstacles and poor avoidance effect of dynamic obstacles in a complex environment,this paper pro-poses a path planning fusion algorithm to improve the robot's obstacle avoidance effect.First,Karto-SLAM is used for laser SLAM mapping,and then the A* algorithm and the TEB algorithm are effectively fused to com-plete the global path planning and local path planning of the robot.Simulation experiments and actual measure-ments show that the average error of the map built by the Karto algorithm is about 1.259％.The fusion algorithm of A*and TEB not only completes the optimal path generation of the single A*algorithm,but also has a good obstacle avoidance function,effectively avoiding obstacles.The rate reaches more than 90％,which meets the mobile obstacle avoidance requirements of inspection robots.
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