Dynamic Path Optimization for Robot Route Planning
Ying Ping Huang, Yingxu Wang, Omar A. Zatarain · 2019
Robot is an autonomous system that integrates advances AI technologies. This paper deals with the adaptive path planning and optimization problems for robots in dynamic environments. We propose a novel route planning method based on the maze representation of workplace layouts. We generate a universal path tree by a path optimization algorithm. Then, any given entrances and exits of target nodes can be reduced to a deterministic path searching problem. Our method can quickly determine the optimal path between any pair of entrance/exit nodes. The maze-based method provides an efficient and robust route planning solution for robots in real-time and dynamic workplaces. Experiments have demonstrated the effectiveness of the method beyond traditional heuristic technologies.