An Optimization Strategy for Offline Path Planning on High-Resolution Grid Maps
Xin Zhang, Chunyu Yang · 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) · 2022
The robot offline path planning method generally takes a long time. To deal with the issue, an optimization strategy is proposed in this paper. Firstly, a simplicity kernel is introduced for dimensionality reduction of the high-resolution 0–1 grid maps, which retain the useful information for of-fline path planning. Secondly, to solve the problem that the dimension reduction makes key points impassable, a improved automata based on the greedy strategy is proposed, by which suitable machine-selected key points can be obtained. Finally, some simulation comparison experiments are carried out. The results show that the planning time is significantly reduced.