Research on AMR Rapid Path Planning Algorithm Based on Variable-Scale Canyon

In large-scale map environments, the increased computational load of the A* algorithm and existing shortest path principles often lead Autonomous Mobile Robot (AMR) to favor one side of corridors, which does not provide sufficient safety for the robots. Inspired by the mountainous terrain and river...

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Vydáno v:Journal of physics. Conference series Ročník 3004; číslo 1; s. 12068 - 12075
Hlavní autoři: Ma, Lei, Quan, Sibo
Médium: Journal Article
Jazyk:angličtina
Vydáno: Bristol IOP Publishing 01.05.2025
Témata:
Algorithm efficiency
Algorithms
Canyon algorithm
Canyons
Flow distribution
Path planning
River flow
Robot learning
Robots
Security
Shortest-path problems
Variable scale
ISSN:1742-6588, 1742-6596
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Shrnutí:In large-scale map environments, the increased computational load of the A* algorithm and existing shortest path principles often lead Autonomous Mobile Robot (AMR) to favor one side of corridors, which does not provide sufficient safety for the robots. Inspired by the mountainous terrain and river flow patterns within canyons, this paper proposes the Canyon algorithm. First, a variable-scale grid map is utilized to generate a coarse-precision map through map scale resizing. Meanwhile, the cost principle is improved by gradually decreasing the cost of cells that are further away from obstacles, generating a canyon cost map from which traversable river paths can be planned. Second, the river paths are expanded according to the diagonal principle and then mapped back to the original map to obtain the river area. Finally, within the river area, the A* algorithm is employed to plan a safe path. The results indicate that the AMR path planning algorithm based on the variable-scale canyon algorithm can effectively plan safe paths, keeping the AMR paths away from potential collision areas and enhancing safety.
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ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/3004/1/012068