Path Planning Based on Improved Hybrid A Algorithm Tang, Bijun; Hirota, Kaoru; Wu, Xiangdong ...
Journal of advanced computational intelligence and intelligent informatics,
01/2021, Letnik:
25, Številka:
1
Journal Article
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Hybrid A
*
algorithm has been widely used in mobile robots to obtain paths that are collision-free and drivable. However, the outputs of hybrid A
*
algorithm always contain unnecessary steering ...actions and are close to the obstacles. In this paper, the artificial potential field (APF) concept is applied to optimize the paths generated by the hybrid A
*
algorithm. The generated path not only satisfies the non-holonomic constraints of the vehicle, but also is smooth and keeps a comfortable distance to the obstacle at the same time. Through the robot operating system (ROS) platform, the path planning experiments are carried out based on the hybrid A
*
algorithm and the improved hybrid A
*
algorithm, respectively. In the experiments, the results show that the improved hybrid A
*
algorithm greatly reduces the number of steering actions and the maximum curvature of the paths in many different common scenarios. The paths generated by the improved algorithm nearly do not have unnecessary steering or sharp turning before the obstacles, which are safer and smoother than the paths generated by the hybrid A
*
algorithm for the autonomous ground vehicle.
At present, most rescue and detection robots are expensive, structurally complex, and have few functions. They only have modules such as tracking, obstacle avoidance, fire extinguishing, ultrasonic ...ranging, amphibious, and smoke detection. However, the use of these modules cannot perform deep detection in harsh environments and does not have predictive power. In order to make the intelligent robot carry out dynamic three-dimensional mapping of complex environment while rescuing, so as to better understand and analyze the environmental conditions and reduce the probability of dangerous events, a dynamic iterative reconstruction rescue detection intelligent robot based on ROS is designed. This design uses Nvidia's Jetson TX1 as the ROS master control, the ubuntu system as the carrier, and first uses the TOF ranging method and ROS of Lassen N10_ Cartographer carries out dynamic 2D reconstruction of the mine environment and scans the mine foundation, then uses Astra Pro to carry out dynamic iterative reconstruction of various environments with ORB-SLAM2 as the basic framework and scans the harsh environment obstacles to obtain the final environment, finally realizing the purpose of dynamic Iterative reconstruction of the environment by intelligent robots while rescuing.
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