A Global-Local Coupling Two-Stage Path Planning Method for Mobile Robots

被引:55
作者
Jian, Zhiqiang [1 ,2 ]
Zhang, Songyi [1 ]
Chen, Shitao [1 ,2 ]
Nan, Zhixiong [1 ]
Zheng, Nanning [1 ]
机构
[1] Xi An Jiao Tong Univ, Dept Elect & Informat Engn, Xian 710049, Shaanxi, Peoples R China
[2] Shunan Acad Artificial Intelligence, Ningbo 315000, Zhejiang, Peoples R China
基金
中国国家自然科学基金;
关键词
Motion and path planning; collision avoidance; wheeled robots; AVOIDANCE;
D O I
10.1109/LRA.2021.3074878
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The path planning of mobile robots is an optimization problem that is difficult to solve directly owing to its nonlinear characteristics. This letter proposes the "global-local" Coupling Two-Stage Path Planning (CTSP) method. First, the globally optimal solution in the configuration space is given by the global planner. Then, in the local planning stage, the optimal solution of the local environment is constantly searched, guided by the prior information of the globally optimal solution. The strategy used in the global planning stage is the iterative optimization method based on an initial solution. The local planning stage adopts the sampling-evaluation strategy, that is, sampling the candidate paths and then using the evaluation function to perform path selection. The proposed method has two innovations: 1) a novel global iterative optimization method is proposed and 2) a new cost function for evaluating the sampled paths is constructed, which improves the coupling of the global and local paths. We implement and test this method in a simulation environment, where the experimental results verify the effectiveness of the proposed method.
引用
收藏
页码:5349 / 5356
页数:8
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