A Multi-Goal Global Dynamic Path Planning Method for Indoor Mobile Robot

摘要

For the requirements of indoor mobile robot planning global optimal path, traversing multi goals and dynamic obstacle avoidance, a multi-goal global dynamic path planning method is proposed in this paper, which is combined improved A * algorithm, traveling salesman problem (TSP), and dynamic window approach (DWA). The improved A* is used to plan the optimal collision-free path between two goals, and a key node selection scheme is used to remove the redundant nodes. And the TSP distance search square matrix is formed by using the optimal path length between the two goals, and the optimal order of traversing all goals is determined by ant colony algorithm. Then DWA evaluation function is constructed, which is considered with the global optimal path and speed, and real-time obstacle avoidance. On the basis of ensuring the global optimality of the planned path, all goals are traversed at the optimal speed, and the path is smoother, the ability of dynamic obstacle avoidance is improved. The simulation results demonstrate that compared with traditional methods, the proposed method is more efficient, smoother path, real-time dynamic obstacle avoidance, which has applications in autonomous navigation of multi targets mobile robots.