计算机应用研究2024，Vol.41Issue(4)：1117-1122,6.DOI:10.19734/j.issn.1001-3695.2023.08.0369
改进双向动态JPS算法的移动机器人全局路径规划
Improved bidirectional dynamic JPS algorithm for global path planning of mobile robot
摘要
Abstract
In order to address the issues with the jump point search algorithm in the process of pathfinding,such as numerous path inflection points,numerous intermediate search hop points,numerous extended nodes,and lengthy pathfinding time in the process of finding jump points,this paper proposed the improved bidirectional dynamic JPS algorithm.The improved algo-rithm dynamically defined the target points in the forward and reverse expansion directions,dynamically defined the heuristic function,and used the dynamic constraint ellipse to restrict the expansion region of the algorithm to distinguish the expansion priorities of the inner and outer regions of the ellipse.The new cost minimum point served as the focus of the new ellipse,and the orientation and constraint region were dynamically changed as the extension from the starting point and goal point to each other.The simulation results show that the optimized bidirectional dynamic JPS algorithm has a certain performance in general maps,especially in indoor environment maps with fewer obstacles and the target point is close to the starting point.关键词
路径规划/跳点搜索/双向动态搜索/移动机器人Key words
path planning/jump point search/bidirectional dynamic search/mobile robot分类
计算机与自动化引用本文复制引用
刘荣华,王欣,吴迪,谢春圆..改进双向动态JPS算法的移动机器人全局路径规划[J].计算机应用研究,2024,41(4):1117-1122,6.基金项目
中央高校基本科研业务费资助项目(DUT22LAB507) （DUT22LAB507）
