Mobile Robot Path Planning Based on a Generalized Wavefront Algorithm

Sifan Wu, Yu Du and Yonghua Zhang

Mathematical Problems in Engineering, 2020, vol. 2020, 1-12

Abstract:

This study develops a generalized wavefront algorithm for conducting mobile robot path planning. The algorithm combines multiple target point sets, multilevel grid costs, logarithmic expansion around obstacles, and subsequent path optimization. The planning performances obtained with the proposed algorithm, the algorithm, and the rapidly exploring random tree (RRT) algorithm optimized using a Bézier curve are compared using simulations with different grid map environments comprising different numbers of obstacles with varying shapes. The results demonstrate that the generalized wavefront algorithm generates smooth and safe paths around obstacles that meet the required kinematic conditions associated with the actual maneuverability of mobile robots and significantly reduces the planned path length compared with the results obtained with the algorithm and the optimized RRT algorithm with a computation time acceptable for real-time applications. Therefore, the generated path is not only smooth and effective but also conforms to actual robot maneuverability in practical applications.

Date: 2020
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2020/6798798.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2020/6798798.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:6798798

DOI: 10.1155/2020/6798798

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().