RESEARCH ON PATH PLANNING OF MOBILE ROBOT
Yu Zhou · Journal of Jinggangshan University · 2010
Path planning, an important branch of the robotics research, generates a collision-free path in workspace with respect to some criterion. We study on the path planning techniques of mobile robot, describe three sub-problems of path planning and discuss the traditional path planning algorithm and intelligent path planning algorithm. According to the greedy strategy of Dijkstra algorithm, we propose the Improved Dijkstra algorithm (ID algorithm) in view of path planning in a static environment. The ID algorithm traverses the two-dimensional grid in breadth-first strategy by means of the FIFO queue. In the choice of adjacent grid node, the ID algorithm adopts the tabu search strategy whose tabu restriction is to forbid visiting tabu or traversed nodes. The experimental evaluations on four different grids and analysis show that the ID algorithm produces the shortest path very quickly and its time complexity is O(4*n).