Evaluation of path planning algorithms for mobile energy storage and charging robots
Kaixinguang Li, Sun Lu, Wei Wang, Chenbing Peng · 2023
The rapid growth of the new energy industry has fostered the rapid development of the mobile energy storage and charging robot industry, with the path planning algorithm being a vital component. This study focuses on the raster-based path planning algorithms, namely the A* algorithm, D* algorithm, and JPS algorithm. Firstly, the algorithms are compared in a simulated environment to assess their feasibility, advantages, and limitations. Subsequently, the Robot Operating System(ROS) framework is employed as the development platform, along with LIDAR and other equipment, to validate the effectiveness of the path planning algorithm using a physical mobile energy storage and charging robot. Experimental results demonstrate the algorithm’s feasibility and provide insights into its optimization direction.