Energy-efficient path planning method for robots based on improved A* algorithm

被引：2
作者：
Zhang H. [1 ]
Zhang Y. [1 ]
Liang R. [1 ]
Yang T. [2 ]
机构：
[1] Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing
[2] Weapon Technology Innovation Center, Ordnance Science and Research Academy of China, Beijing
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2023年 / 45卷 / 02期
关键词：
energy consumption model; energy consumption motion primitive; improved A* algorithm; path planning;
D O I：
10.12305/j.issn.1001-506X.2023.02.23
中图分类号：
学科分类号：
摘要：
In order to reduce the energy consumption during the robot movements and increase the task execution rate with limit energy supply, an energy-efficient path planning method is proposed based on improved A* algorithm for mobile robots. Firstly, the energy consumption model of four-wheel differential drive robot is established according to its kinematic constraints. Secondly, the motion primitive of the robot is solved by given the start and goal states. The energy consumption motion primitive set is constructed after using the energy consumption model to calculate the cost of each motion primitive. Thirdly, the energy efficient path planning method is proposed based on the traditional A* algorithm. In the planning process, the nodes are expanded using the defined connection relationship in energy consumption motion primitive set and the energy consumption is treated as the cost between them, which guarantees to find a global energy efficient path. Finally, the offline map simulation test and robotic experiment results show that the energy cost of the generated path is reduced by about 28.24%. Therefore, the effectiveness of the algorithm is verified. © 2023 Chinese Institute of Electronics. All rights reserved.
引用
收藏
页码：513 / 520
页数：7
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