Open AccessResearch on Multi-sensor Path Planning Based on Corridor Environment
Author(s) -
Fei Wang,
Ruilan Song,
Qingshuai Zhao
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1865/4/042041
Subject(s) - computer science , inflection point , motion planning , obstacle , obstacle avoidance , path (computing) , robot , set (abstract data type) , lidar , real time computing , simulation , line (geometry) , computer vision , mobile robot , artificial intelligence , remote sensing , mathematics , programming language , geometry , political science , law , geology
Aiming at the problems of traditional A* algorithm with many inflection points, large turning angles and not adapting to dynamic environment, the current optimized A* algorithm is analyzed and researched. Designed and built a wheeled robot platform with 4WD trolley as the carrier, single-line lidar Rplidar_A3, depth camera Kinect V2 and ultrasonic sensor TeraRanger one as environmental detection sensors. The platform conducted simulation research on the three optimized A* algorithms in the indoor corridor environment, compared the pros and cons of the planned paths, and set up path planning experiments based on the static network improved A* algorithm and dynamic obstacles and static Obstacle avoidance experiment. Experiments prove that the trajectory planned by the improved A* algorithm based on the static network contains 7 inflection points, which is relatively smooth, takes 49.8s and can effectively avoid dynamic and static obstacles.