An Improved Global and Local Fusion Path-Planning Algorithm for Mobile Robots
Path planning is a core technology for mobile robots. However, existing state-of-the-art methods suffer from issues such as excessive path redundancy, too many turning points, and poor environmental adaptability. To address these challenges, this paper proposes a novel global and local fusion path-p...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/24/24/7950 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1846102803909443584 |
|---|---|
| author | Yongliang Shi Shucheng Huang Mingxing Li |
| author_facet | Yongliang Shi Shucheng Huang Mingxing Li |
| author_sort | Yongliang Shi |
| collection | DOAJ |
| description | Path planning is a core technology for mobile robots. However, existing state-of-the-art methods suffer from issues such as excessive path redundancy, too many turning points, and poor environmental adaptability. To address these challenges, this paper proposes a novel global and local fusion path-planning algorithm. For global path planning, we reduce path redundancy and excessive turning points by designing a new heuristic function and constructing an improved path generation method. For local path planning, we propose an environment-aware dynamic parameter adjustment strategy, incorporating deviation and avoidance dynamic obstacle evaluation factors, thus addressing issues of local optima and timely avoidance of dynamic obstacles. Finally, we fuse those global and local path-planning improvements to form our fusion path-planning algorithm, which can enhance the robot’s adaptability to complex scenarios while reducing path redundancy and turning points. Simulation experiments demonstrate that the improved fusion path-planning algorithm not only effectively addresses existing issues but also operates with higher efficiency. |
| format | Article |
| id | doaj-art-a6c8b73f21b6403ead748076e3a73f22 |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-a6c8b73f21b6403ead748076e3a73f222024-12-27T14:52:32ZengMDPI AGSensors1424-82202024-12-012424795010.3390/s24247950An Improved Global and Local Fusion Path-Planning Algorithm for Mobile RobotsYongliang Shi0Shucheng Huang1Mingxing Li2School of Computer Science, Jiangsu University of Science and Technology, Zhenjiang 212100, ChinaSchool of Computer Science, Jiangsu University of Science and Technology, Zhenjiang 212100, ChinaSchool of Electrical and Information Engineering, Jingjiang College, Jiangsu University, Zhenjiang 212013, ChinaPath planning is a core technology for mobile robots. However, existing state-of-the-art methods suffer from issues such as excessive path redundancy, too many turning points, and poor environmental adaptability. To address these challenges, this paper proposes a novel global and local fusion path-planning algorithm. For global path planning, we reduce path redundancy and excessive turning points by designing a new heuristic function and constructing an improved path generation method. For local path planning, we propose an environment-aware dynamic parameter adjustment strategy, incorporating deviation and avoidance dynamic obstacle evaluation factors, thus addressing issues of local optima and timely avoidance of dynamic obstacles. Finally, we fuse those global and local path-planning improvements to form our fusion path-planning algorithm, which can enhance the robot’s adaptability to complex scenarios while reducing path redundancy and turning points. Simulation experiments demonstrate that the improved fusion path-planning algorithm not only effectively addresses existing issues but also operates with higher efficiency.https://www.mdpi.com/1424-8220/24/24/7950mobile robotglobal path-planning algorithmlocal path-planning algorithmfusion path-planning algorithm |
| spellingShingle | Yongliang Shi Shucheng Huang Mingxing Li An Improved Global and Local Fusion Path-Planning Algorithm for Mobile Robots Sensors mobile robot global path-planning algorithm local path-planning algorithm fusion path-planning algorithm |
| title | An Improved Global and Local Fusion Path-Planning Algorithm for Mobile Robots |
| title_full | An Improved Global and Local Fusion Path-Planning Algorithm for Mobile Robots |
| title_fullStr | An Improved Global and Local Fusion Path-Planning Algorithm for Mobile Robots |
| title_full_unstemmed | An Improved Global and Local Fusion Path-Planning Algorithm for Mobile Robots |
| title_short | An Improved Global and Local Fusion Path-Planning Algorithm for Mobile Robots |
| title_sort | improved global and local fusion path planning algorithm for mobile robots |
| topic | mobile robot global path-planning algorithm local path-planning algorithm fusion path-planning algorithm |
| url | https://www.mdpi.com/1424-8220/24/24/7950 |
| work_keys_str_mv | AT yongliangshi animprovedglobalandlocalfusionpathplanningalgorithmformobilerobots AT shuchenghuang animprovedglobalandlocalfusionpathplanningalgorithmformobilerobots AT mingxingli animprovedglobalandlocalfusionpathplanningalgorithmformobilerobots AT yongliangshi improvedglobalandlocalfusionpathplanningalgorithmformobilerobots AT shuchenghuang improvedglobalandlocalfusionpathplanningalgorithmformobilerobots AT mingxingli improvedglobalandlocalfusionpathplanningalgorithmformobilerobots |