| Abstrakt: |
Path planning is one of the key technologies for robot navigation. An excellent path planning algorithm can quickly find the best collision-free path and improve operational efficiency. Most existing classification methods have difficulty in expressing the differences and connections between algorithms. To distinguish different path planning algorithms more clearly, they are divided into graph-based search, bionic-based, potential field-based, velocity space-based and sampling-based algorithms based on their principle and nature. This paper introduces the concept, characteristics, and development status of each type of algorithm, analyzes the more widely used sample-based algorithms from the perspective of single-query and multi-query algorithms, and the advantages and problems of different types of path planning algorithms are compared and summarized. Finally, the future development trend of robot path planning algorithms in terms of multi-robot collaboration, multi-algorithm fusion and adaptive planning is prospected. [ABSTRACT FROM AUTHOR] |
