Mobile Robot Dynamic Path Planning Based on Improved A∗ Algorithm
文献类型：会议论文
| 作者 | Sun T(孙桐)1,2; Wang T(王挺)2,3 ; Sun P(孙平)1
|
| 出版日期 | 2021 |
| 会议日期 | August 6-8, 2021 |
| 会议地点 | Virtual, Beijing, China |
| 关键词 | mobile robot path planning A* algorithm dynamic window approach |
| 页码 | 24-29 |
| 英文摘要 | In order to solve the problems of large storage, excessive redundant nodes and inflection points of paths, and unsmooth track in the traditional A∗algorithm. This paper presents a fusion algorithm of mobile robot path planning based on the improved A∗ and dynamic window approach. Firstly, selectively expand the neighborhood according to the connection between the node to be expanded and the target node, and reduce the expanded nodes in openlist and closelist. Secondly, according to the key node extraction strategy, eliminate the redundant path nodes and unnecessary inflection points generated by A∗ tracking. Finally, the dynamic window approach is integrated to carry out real-time dynamic path planning. The Matlab simulation experiment results show that the improved fusion algorithm shortens the path length, and the smoothness and security of the path are also optimized. |
| 产权排序 | 1 |
| 会议录 | 2021 3rd International Conference on Robotics and Computer Vision, ICRCV 2021
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-3628-1 |
| 源URL | [http://ir.sia.cn/handle/173321/29771]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Sun T(孙桐) |
| 作者单位 | 1.Shenyang University of Technology, Shenyang, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Institute of Robotics and Intelligent, Manufacturing Innovation Chinese, Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Sun T,Wang T,Sun P. Mobile Robot Dynamic Path Planning Based on Improved A∗ Algorithm[C]. 见:. Virtual, Beijing, China. August 6-8, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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