| Abstrakt: |
Aiming at the problems of low search efficiency, unsmooth path, and easy collision with obstacle vertices when using D* Lite algorithm for mobile robot path planning in dynamic environment, a new method based on risk factor and cubic uniform R-spline curve was proposed. First, perform function optimization. When expanding the adjacent points, the traditional heuristic function calculation method is changed to the diagonal distance to improve the planning efficiency, and the risk factors are fine grated into the node cost, so as to avoid the robot moving obliquely through the sharp corners of obstacles and colliding with the sharp corners of obstacles; Secondly, the path is fitted and optimized by combining the cubic uniform B-spline curve to make the path smoother. Aiming at the above improvements, PyCharm software is used to simulate, and the results show that the improved algorithm can effectively improve the efficiency of path planning and the safety and practicability of paths. [ABSTRACT FROM AUTHOR] |
