Improved Real-Time Path Planning Method for Ground Mobile Robots in Unstructured Environments
Chenghong Xu, Wenjie Qi, Wenxiang Liu, Fei Peng, Guojian Wang · 2024
In unstructured road environments, real-time autonomous path planning is crucial for collision-free movement of ground mobile robots. However, there are relatively few path planning algorithms currently available for ground mobile robots in unstructured environments. Therefore, this paper proposes an improved path planning algorithm to meet the planning tasks in unstructured scenarios. This paper utilizes independent one-dimensional time-parameterized polynomials for node expansion, combines optimal control theory to construct a heuristic function, and optimizes trajectories using B-spline curves. Additionally, the Receding Horizon Planning framework algorithm is employed to meet the requirements of real-time path planning. Experimental results of robot path planning demonstrate that the proposed algorithm offers faster planning speed and smoother trajectories, with an increase in travel speed.