Multi-obstacle path planning and optimization for mobile robot

Abstract

In the past few decades, many results have been achieved in the research of mobile robot path planning, and they have been applied in simple scenarios, such as factory AGV, bank guide robot. However, path planning in highly dense and complex scenarios has become an important challenge for applications. Robots face dense map and complex obstacles and hardly find out an optimal path within a reasonable period, such as unmanned vehicles in freight ports and rescue robots in earthquake environment. Therefore, a multi-obstacle path planning and optimization method is proposed. In order to simplify complex environmental obstacles, the obstacles will be divided into basis obstacles and extension obstacles. Firstly, the basis obstacles and their contour point sets are determined according to the starting point and goal point. Furthermore, the basis obstacles are optimized by convex hulls, and then the corresponding basis point set is obtained. Secondly, the extension obstacles are determined by the basis point set, starting point and goal point, and then the corresponding extension point set is generated. After that, a path planner is designed by the multi-objective D* Lite algorithm for distance and smoothness in order to get reasonable and optimized path in a complex environment. Moreover, the path is smoothed by cubic bezier curves to fit the kinematic model of the robot. Finally, The proposed method conduct comparative experiments with other algorithms to verify its accuracy and computational efficiency of planning in complex environments.