Global Dynamic Path Planning Fusion Algorithm Combining Jump-A Algorithm and Dynamic Window Approach

In order to meet the performance requirements of global optimality and path smoothness in robot path planning, a new fusion algorithm of jump-A * algorithm and dynamic window approach is proposed. First, A * algorithm is optimized by using the jump point search method and a new distance evaluation f...

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Veröffentlicht in:IEEE access Jg. 9; S. 19632 - 19638
Hauptverfasser: Liu, Lisang, Yao, Jinxin, He, Dongwei, Chen, Jian, Huang, Jing, Xu, Hui, Wang, Bin, Guo, Jiangfeng
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Algorithms
Dynamic window method
Euclidean geometry
Heuristic algorithms
Indexes
jump-A algorithm
jumping point search
Motion control
Optimization
Path planning
Planning
Robot control
Robot dynamics
Robots
Smoothness
Trajectory
Turning
ISSN:2169-3536, 2169-3536
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Zusammenfassung:In order to meet the performance requirements of global optimality and path smoothness in robot path planning, a new fusion algorithm of jump-A * algorithm and dynamic window approach is proposed. First, A * algorithm is optimized by using the jump point search method and a new distance evaluation function defined by Manhattan and Euclidean distance to obtain global path information. Then take the dynamic window approach as the core by integrating the global path information to safely plan a global optimal path with high smoothness. The experimental results show that the new fusion algorithm proposed in this paper can not only effectively solve the problem of non-continuous curvature and excessive turning angle at the turning points of the path planned by jump-A * algorithm, but also improve the smoothness of the path and the global optimality. This research is beneficial to the motion control of robots and has certain reference for robot navigation.
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ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2021.3052865