P‐2.10: Design and Implementation of Mobile Robot Path Planning System Based on SLAM Technology

摘要

The exploration of unknown environment for mobile unmanned vehicles has always been a hot and difficult research topic. Localization and map construction (SLAM) and path planning scheme are the key technologies for autonomous localization and navigation of unmanned vehicles. Path planning of mobile unmanned vehicles is one of the most important core technologies of unmanned vehicles, and the planned path should be as optimal and conflict-free as possible. This paper analyzes and compares the global path planning techniques based on Dijkstra and A star. A star algorithm introduces heuristic functions and reduces the search of nodes, which not only retains the advantages of Dijkstra algorithm in obtaining the shortest path, but also takes into account the advantages of breadth first search. Therefore, A star algorithm is selected as the global path planning algorithm in this topic.