A New Intelligent Trajectory Planning Algorithm Based on Bug2 Algorithm:Bridge Algorithm

摘要

A new algorithm is developed for unmanned omnidirectional robot to establish a feasible path that avoids obstacles and does not have randomness in a given environment : Bridge Algorithm. The implementation of the Bridge Algorithm is similar to the process of finding the shortest feasible path for human beings, which determines the straight line where the Starting point and the end point are located, then determines the obstacles intersecting with the straight line, selects the short edge of the obstacle contour as the obstacle avoidance path, and repeats the process until the end point. The implementation ensures the consistent of the path generated by the algorithm, i.e., for the same Starting point, end point and environment, the path generated each time is consistent. This consistency is crucial for application occasions that emphasize safety and stability. According to the experimental results of the algorithm in the real unmanned omni-directional wheel robot, Bridge Algorithm has good real-time performance, and the actual walking trajectory of the robot is basically the same as the planned trajectory, which proves that the algorithm has good performance.