Mobile Robot Path Planning Based on the Focused Heuristic Algorithm

Abstract

Aiming at the problems of low search efficiency, high search cost, and redundant search range in the traditional D* Lite algorithm in solving the path planning problem, the Focused D* Lite (FDL) algorithm is proposed. The proposed algorithm optimizes and adjusts the node and line respectively. Firstly, based on the current coordinates of mobile robots, the feasibility judgment and information transmission of obstacle information in eight neighborhoods are carried out to enhance the search capability of each step and ensure the effectiveness of the subsequent search. Secondly, the weight assignment is provided for the planned path to improve the concentration of the planned path, so that the algorithm can focus on the key and leading path, reduce the divergence of the algorithm, reduce invalid search and improve the efficiency of the algorithm planning. Simulation results show that the FDL algorithm is more efficient and also could maintain the same level of path quality.