Bidirectional Jumping Point Path Planning Method Based on Double-layer Frame Visualization Graph
Aiming at the problem that the path planning time of mobile robot is too long in complex unknown and semi-unknown envi-ronment,which is difficult to find the global optimal path,we propose a bidirectional jumping point search path planning method based on double-layer frame visibility.Firstly,the visibility is divided into local layer and global layer,and the mobile robot collects and extracts environmental information through sensors to generate local visibility,and then the filtered map is updated to global visibility by using the filtering method based on the edge length of obstacle contour.Secondly,based on the jumping point search algorithm,a new path is added to search from the target point,and the jumping point search algorithm is optimized into bidirectional jumping point search algorithm.Finally,the optimized algorithm is combined with the view for path planning and navigation.The proposed method is verified in a variety of complex scenes,and the simulation results show that the path search time and navigation time of the two-way hop search algorithm with double-layer frame visibility are optimized to varying degrees,and the global path can be searched efficiently in complex and unknown environments.
万方数据
维普
