Path Planning of Mobile Robot Based on Optimized D*Lite Algorithm

摘要

In view of the problems of the existing D*Lite algorithm in the path planning of mobile robots, such as incomplete consideration of robot safety and excessive turning times, an optimized D*Lite path planning algorithm is proposed. The optimized D*Lite algorithm changes the safe path to the safe path in path search, and adopts the method of reverse search connection optimization after path planning.Smoothing the path planned by D*Lite algorithm is the same as marking the grid map with temporary obstacles when necessary, so as to avoid repeated searching of unnecessary grid areas by path planning algorithm. To verify the effectiveness of this method, the simulation is carried out by MATLAB software, The results show that the improved algorithm can obviously improve the safety of robot movement and the efficiency of reaching the target in practical application.