Research on Intelligent Robot Path Planning Based on Spatiotemporal Grid Map in Dynamic Environment

摘要

To improve the adaptability of the intelligent robot in a dynamic environment, a spatiotemporal grid map is constructed, which can integrate static and dynamic obstacles in a unified manner. Then, an improved spatiotemporal dynamic window approach (DWA) algorithm is proposed, which can perform local path planning in spatiotemporal grid maps. Finally, the A* algorithm is integrated with the improved spatiotemporal DWA algorithm, and a path planning method of spatiotemporal grid map combined with the A* algorithm is proposed. Experiments have shown that this method can not only ensure global optimality of the path but also can better adapt to the dynamic environment and avoid dynamic obstacles.