Research on path planning algorithm of inspection robot based on improved A* and dynamic window approach

Dan Zhang; Haibin Meng; Yintao Ouyang; Junji Yuan; Sen Li

doi:10.1117/12.3009293

11 October 2023 Research on path planning algorithm of inspection robot based on improved A* and dynamic window approach

Dan Zhang, Haibin Meng, Yintao Ouyang, Junji Yuan, Sen Li

Author Affiliations +

Proceedings Volume 12918, Fourth International Conference on Computer Science and Communication Technology (ICCSCT 2023); 129180C (2023) https://doi.org/10.1117/12.3009293
Event: International Conference on Computer Science and Communication Technology (ICCSCT 2023), 2023, Wuhan, China

Abstract

To address the current issues of path planning and limited applicability in patrol robots, an enhancement has been made to the existing A* algorithm, coupled with the utilization of the dynamic window approach, to design a global dynamic path planning method suitable for patrol robots. This approach involves introducing dynamic weights to enhance search efficiency, identifying collinearity among global path nodes to eliminate redundant points, and conducting obstacle detection between essential nodes to enhance path smoothness. An autonomous navigation algorithm is proposed, wherein the path generated by the A* algorithm is adopted as the global path. The essential nodes within this path are treated as local target points. By adjusting the initial pose angle and optimizing the weight coefficients of the evaluation function, the autonomous navigation algorithm’s optimization efficiency and obstacle avoidance capability against random obstacles are improved. Comparative simulation experiments are conducted to validate its robust performance in terms of planning efficiency, path length, and random obstacle avoidance. By establishing a ROS robot operating platform and conducting experiments in both static and dynamic environments, the autonomous navigation algorithm is shown to successfully plan superior paths and achieve real-time obstacle avoidance to reach the target point.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Dan Zhang, Haibin Meng, Yintao Ouyang, Junji Yuan, and Sen Li "Research on path planning algorithm of inspection robot based on improved A* and dynamic window approach", Proc. SPIE 12918, Fourth International Conference on Computer Science and Communication Technology (ICCSCT 2023), 129180C (11 October 2023); https://doi.org/10.1117/12.3009293

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
9 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Detection and tracking algorithms

Windows

Inspection

Computer simulations

Mathematical optimization

Mobile robots

Environmental sensing

Show All Keywords

Keywords/Phrases

Search In:

Publication Years