Directed D* algorithm for dynamic path planning of mobile robots

doi:10.3785/j.issn.1008-973X.2020.02.010

CORC > 兰州理工大学 > 兰州理工大学 > 机电工程学院

	*Directed D algorithm for dynamic path planning of mobile robots**
	Liu, Jun; Feng, Shuo; Ren, Jian-Hua
刊名	Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science)
	2020-02-01
卷号	54 期号:2 页码:291-300
关键词	Efficiency Robots Complex environments Determining method Dynamic path planning Evaluation function Global optimality Location information Searching efficiency Steering functions
ISSN号	1008973X
DOI	10.3785/j.issn.1008-973X.2020.02.010
英文摘要	A directed D* route planning algorithm was proposed, aiming at the low efficiency and high cost of the traditional D* route planning algorithms. In the proposed directed D* algorithm, the key nodes are defined by utilizing the location information of target points and obstacles so that the feasible routes could be determined by a stepwise expanding way, and a directed function is introduced to control the single searching range of nodes in order to improve the searching efficiency. A path smoothness function which punishes the deviation of paths is introduced to the algorithm in addition to Euclidean evaluation function, in order to avoid the redundant turning of robots and reduce the costs. The length of the path and the smoothness are taken into account simultaneously by the turning factor of the path smoothness function. The piecewise principle of the path smoothness function and the determining method of the turning factor are proposed. The convergence of the algorithm was also proved. Simulation experiments in different environments show that the proposed algorithm can balance the local searching and the global optimality, and it is especially suitable for complex environments with many obstacles. © 2020, Zhejiang University Press. All right reserved.
语种	中文
出版者	Zhejiang University
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/115065]
专题	机电工程学院
作者单位	School of Electromechanical Engineering, Lanzhou University of Technology, Lanzhou; 730050, China
推荐引用方式 GB/T 7714	Liu, Jun,Feng, Shuo,Ren, Jian-Hua. Directed D* algorithm for dynamic path planning of mobile robots[J]. Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science),2020,54(2):291-300.
APA	Liu, Jun,Feng, Shuo,&Ren, Jian-Hua.(2020).Directed D* algorithm for dynamic path planning of mobile robots.Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science),54(2),291-300.
MLA	Liu, Jun,et al."Directed D* algorithm for dynamic path planning of mobile robots".Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) 54.2(2020):291-300.