Multi-obstacle path planning and optimization for mobile robot

作者：

Highlights：

• A new path planning method based on obstacles for a grid map is proposed.

• After optimization by convex hulls, the simple point set is generated.

• The hierarchical obstacles are used to plan the path quickly in a small scope.

• Multi-objective D* Lite algorithm is adopted to optimize the length and smoothness.

• The path is smoothed by cubic Bezier curves to fit the real robot.

摘要

•A new path planning method based on obstacles for a grid map is proposed.•After optimization by convex hulls, the simple point set is generated.•The hierarchical obstacles are used to plan the path quickly in a small scope.•Multi-objective D* Lite algorithm is adopted to optimize the length and smoothness.•The path is smoothed by cubic Bezier curves to fit the real robot.

论文关键词：Path planning,Multi-objective optimization,Obstacles-based algorithm,Bezier curve

论文评审过程：Received 14 January 2021, Revised 6 May 2021, Accepted 12 June 2021, Available online 23 June 2021, Version of Record 23 June 2021.

论文官网地址：https://doi.org/10.1016/j.eswa.2021.115445