Research on Path Planning of Inspection Robot Based on Fast Marching Square Method Algorithm
Aiming at the problem that fast marching square method lacks evaluation scale for the selection of Sat values in the actual scene,an improved fast moving leveling method is proposed to be applied to the path planning of inspection robots.The improved method introduces the path evaluation function,and obtains the optimal cutoff threshold function Sat value in the current environment through dimensionless processing of vehicle driving distance,driving angle change and distance from obstacles.The PID control algorithm is constructed to correct the robot's action error.The MATLAB software is used to draw the actual motion trajectory and compare the relevant path parameters.The simulation results show that the improved method can generate the optimal path suitable for different vehicle types and environment characteristics according to cutoff threshold function Sat values.The improved method in this study provides a reference value for the path planning of inspection robots in practical applications.
path planningmobile robotsfast marching square methodcollision riskevaluation function
万方数据
维普
