Research on Mobile Robot Path Planning Algorithm for Drug Delivery
Zheng Zhang, Pengjin Li, Weifeng Deng, Yunjia Hao, Zhiyao Geng, Yinuo Chen · 2024
Path planning using the traditional RRT* algorithm in complex hospital environments has the drawbacks of not being able to avoid dynamic obstacles, too many redundant points, inefficient search and non-smooth paths, for this reason, this paper proposes an improved RRT* algorithm path planning method for medical delivery robots. The gravitational potential field and PRRT algorithm are introduced to optimize the sampling strategy, the adaptive step size is used to improve the search efficiency of the algorithm, and finally, the smoothness of the path is improved by branch pruning. Through simulation, the improved RRT* algorithm reduces the path turn point by 75%, the path length by 26.25%, and the search time by 89.72% compared to the traditional RRT* algorithm.