A Multi-objective Point Path Planning Algorithm Based on Fusion of APF and A
In the smart restaurant environment,in order to solve the problem of low planning efficiency in multi-target point path planning of mobile robots,we propose a multi-target point path planning method based on the combination of A*algorithm and APF algorithm.The multi-target point path planning problem is transformed into a traveling salesman-like problem,and the A*algorithm and artificial potential field method are used to plan the optimal traversal sequence of multiple target points.Firstly,several target points are represented as a set and applied to the A*algorithm to realize the path planning of multiple target points of the A*algorithm.Secondly,the artificial potential field method is introduced to determine the priority of multiple target points.With the help of the artificial potential field method,the potential energy value of each target point is calculated and applied to sort the target point set for com-pleting of the optimal order among the target points.Finally,the A*algorithm is used for global path planning on the planned target point set.In order to verify the effectiveness and advancement of the proposed method,the proposed algorithm is subjected to ablation ex-periments and also compared with two typical multi-target point planning algorithms.The results show that the proposed algorithm is effective and can plan an effective path while shortening the path planning time and reducing the path cost.
mobile robotA*algorithmartificial potential field methodmulti-target point path planningfusion algorithm
万方数据
维普
