Mobile Robot Path Planning Based on a Generalized Wavefront Algorithm

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 <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M1"><mml:mrow><mml:msup><mml:mrow><mml:mi>A</mml:mi></mml:mrow><mml:mrow><mml:mi>∗</mml:mi></mml:mrow></mml:msup></mml:mrow></mml:math> algorithm, and the rapidly exploring random tree (RRT) algorithm optimized using a Bézier 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 <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" id="M2"><mml:mrow><mml:msup><mml:mrow><mml:mi>A</mml:mi></mml:mrow><mml:mrow><mml:mi>∗</mml:mi></mml:mrow></mml:msup></mml:mrow></mml:math> 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.