Improved JPS Algorithm Using New Jump Point for Path Planning of Mobile Robot

Abstract

In view of the discussion of robot collision in complex environment due to control or positioning error and robot size, this paper presents a jump point search algorithm with safe distance(SD-JPS) for path planning. Based on the fast jump point search method, a new definition of the jump point and a node domain matrix are proposed to improve the JPS algorithm. The SD-JPS algorithm can select the any size of the node domain matrix to obtain the safe distance between the robot and the obstacle, and improve the flexibility of the robot movement. In addition, the different effects of SD-JPS and A* algorithm on the number of search nodes, planed routes and planning time are also studied. Simulation results show that the improved JPS algorithm can obtain different safety distances and plan the optimal path with shorter time.