关键词: 机器人, 动态环境, 混合路径规划算法, 安全点引导

Abstract: To solve the problem on global optimization and real-time obstacle avoidance for a mobile robot’s path planning in complex environment,the Safe-point Guide (SPG)hybrid algorithm with heuristic dynamic path planning was proposed by combining the improved A* algorithm with the artificial potential field.The end-point approximation strategy was designed to solve the problem of too many redundant turning points in the traditional A* algorithm.The plane vector product method was adopted to avoid the path oscillation of the conventional artificial potential field.A heuristic strategy guided by safe points was designed for combining the two improved algorithms to ensure a safe path and escape from the local minimum point.The SPG hybrid algorithm was simulated in the static and dynamic environments.Compared with the traditional hybrid algorithms in the static environment,the path length and running time were shortened by 10% and 25.6% respectively.In the dynamic environment,the path length and running time were shortened by 9.5% and 30.9% respectively.The results showed that the SPG hybrid algorithm had good global path-planning and dynamic obstacle-avoidance abilities.The effectiveness of the proposed algorithm was verified in real scenes.

Key words: robots, dynamic environment, hybrid path planning algorithm, safe-point guide