Path planning algorithm design integrating ultra-wideband positioning and Beidou satellite navigation
Chuanfa Lu, Shouxiang Zhang, Jinzhao Sha · 2023
In mobile robot design, the most commonly used path planning algorithm is A*. To address the issues of static planning and the inability to perceive the robot's current position in traditional A* algorithm, a path planning algorithm based on ultra-wideband (UWB) positioning and Beidou satellite navigation is proposed. Indoor positioning is achieved using a UWB quad-system for obtaining positional coordinates, while outdoor positioning relies on Beidou technology to obtain positional coordinates. Additionally, the search neighborhoods of traditional A* algorithm are improved to shorten path lengths, reduce the search of irrelevant nodes, and enhance the efficiency of path planning. The introduction of higher-order Bezier curves removes sharp points from the path, making it smoother and more suitable for practical mobile robot motion planning.