Application of 3-D Path Planning and Obstacle Avoidance Algorithms on Obstacle-Overcoming Robots

摘要

This article presents a MMP algorithm that combines a 3-D path planning algorithm with a DWA obstacle avoidance algorithm, to enable obstacle-overcoming robots to navigate complex, unstructured scenes. To achieve this, a novel A-star algorithm is proposed that can switch to a greedy best-first strategy algorithm based on the characteristics of the scene. The path planning algorithm is integrated with the DWA algorithm, allowing for local dynamic obstacle avoidance while following the global planned path. Additionally, the algorithm enables the robot to correct its path after obstacle avoidance and overcoming. The feasibility and robustness of the algorithms are demonstrated through simulation experiments in a factory with several complex environments. The algorithms quickly generate a reasonable 3-D path and perform reliable local obstacle avoidance, while taking into account the characteristics of the scene and motion obstacles.