文献类型：期刊文献

英文题名：Mobile Robot Path Planning Based on a Generalized Wavefront Algorithm

作者：Wu, Sifan[1];Du, Yu[2];Zhang, Yonghua[3]

第一作者：Wu, Sifan

通讯作者：Du, Y[1]

机构：[1]Beijing Union Univ, Smart City Coll, Beijing 100101, Peoples R China;[2]Beijing Union Univ, Coll Robot, Beijing 100101, Peoples R China;[3]Beihang Univ, Sch Comp Sci & Engn, Beijing 100083, Peoples R China

第一机构：北京联合大学继续教育学院

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Robot, Beijing 100101, Peoples R China.|[1141739]北京联合大学机器人学院;[11417]北京联合大学;

年份：2020

卷号：2020

外文期刊名：MATHEMATICAL PROBLEMS IN ENGINEERING

收录：;EI(收录号：20201508385805);Scopus(收录号：2-s2.0-85082703890);WOS:【SCI-EXPANDED(收录号:WOS:000522255900007)】；

基金：This research was funded by the National Natural Science Foundation of China (Grant no. 91420202).

语种：英文

外文关键词：Curve fitting - Mobile robots - Robot programming - Wavefronts

摘要：This study develops a generalized wavefront algorithm for conducting mobile robot path planning. The algorithm combines multiple target point sets, multilevel grid costs, logarithmic expansion around obstacles, and subsequent path optimization. The planning performances obtained with the proposed algorithm, the A* algorithm, and the rapidly exploring random tree (RRT) algorithm optimized using a Bezier curve are compared using simulations with different grid map environments comprising different numbers of obstacles with varying shapes. The results demonstrate that the generalized wavefront algorithm generates smooth and safe paths around obstacles that meet the required kinematic conditions associated with the actual maneuverability of mobile robots and significantly reduces the planned path length compared with the results obtained with the A* algorithm and the optimized RRT algorithm with a computation time acceptable for real-time applications. Therefore, the generated path is not only smooth and effective but also conforms to actual robot maneuverability in practical applications.