Indoor Navigation Based on Global and Local Path Planning for Wheeled Mobile Robot in Airport

摘要

This paper presents a path planning method based on airport map and local cost map in the complex and uncertain environment. Ultra Wideband (UWB) sensors are used to obtain global location, and A* algorithm is used to obtain the global optimal path in this method. At the same time, the distance between obstacles is obtained by ultrasonic sensors, and the local optimal path is obtained by real-time calculation and evaluation of the path through the dynamic window. Finally, the simulation experiments show that the method can quickly and effectively obtain the optimal path of the robot in the known environment, can realize real-time obstacle avoidance in the local changing environment. At the same time, the robot can avoid and escape from the local minimization.