Global path planning of mobile robot based on improved JPS+ algorithm

摘要

Jump point search algorithm (JPS algorithm) is widely used in mobile robot path planning. In view of the long path search time and poor security of JPS algorithm in path planning, this paper proposes a Bidirectional JPS+ algorithm. This method adopts a bidirectional alternate orthogonal search mechanism to ensure that bidirectional searches can meet and improve the safety of the mobile robot during the movement. The map is preprocessed to speed up the search speed, and the performance is more obvious in large maps. In order to verify the effectiveness of the algorithm, the algorithm is compared with the JPS algorithm and the A* algorithm. The simulation results show that the algorithm speeds up the search speed, improves the safety, and the path planning is reasonable, which meets the path planning requirements.