Research on Mobile Robot Path Planning Based on an Improved Bidirectional Jump Point Search Algorithm

摘要

This study proposes an improved bidirectional dynamic jump point search (JPS) algorithm to address key challenges in mobile robot path planning, including excessive node expansions, poor path smoothness, safety concerns, and extended search times. The core novelty of this algorithm lies in the introduction of adaptive weight coefficients in the heuristic function and dynamic constraint circles to optimize node expansions. Specifically, the adaptive heuristic function dynamically adjusts the weight coefficients based on the current position relative to the target point, significantly accelerating path searches while ensuring accuracy. Additionally, a dynamically constrained circle is introduced, which defines an adaptive search region, prioritizing node expansions within its boundary and effectively reducing unnecessary searches. Moreover, the jump point selection rules have been optimized to eliminate hazardous nodes and further improve path safety and practicality. Simulation tests conducted on grid maps with varying complexities clearly demonstrate that the proposed algorithm considerably reduces search times by up to 66.27% compared with conventional A*, traditional JPS, and bidirectional JPS methods. Finally, physical mobile robot experiments further validate the effectiveness and real-world applicability of the proposed algorithm.