计算机工程与应用2024，Vol.60Issue(10)：311-319,9.DOI:10.3778/j.issn.1002-8331.2302-0168
结合维诺区域分割和路径优化的路径规划算法
Path Planning with Voronoi Region Segmentation and Path Optimization
摘要
Abstract
In some large buildings,the efficiency of path planning algorithms for mobile robots still faces great challenges.To deal with this problem,a path planning algorithm combining Voronoi region segmentation and path optimization(VSO)is proposed to achieve fast path planning in large-scale indoor scenario.The algorithm uses the generalized Voronoi graph(GVG)to construct the topological map from the environmental map,and then the initial heuristic path can be obtained quickly on the topological map.By sampling in the area around the initial path,the over-exploration of the work-space can be reduced.What's more,the algorithm selects waypoints to divide the sampling area into multiple sub-regions,and search paths in the sub-regions in parallel to further reduce the search space and improve the search efficiency.Finally,the path obtained from each sub-region is connected as the solution of the overall problem,and the optimization algorithm is used to smooth the final path.Simulation and robot experiments are conducted to verify the practicability and effectiveness of the proposed algorithm.关键词
移动机器人/路径规划/路径优化/多线程Key words
mobile robot/path planning/path optimization/multithreading分类
信息技术与安全科学引用本文复制引用
江纯兴,吴锋..结合维诺区域分割和路径优化的路径规划算法[J].计算机工程与应用,2024,60(10):311-319,9.基金项目
安徽省重大研究和开发计划(202004H07020008). （202004H07020008）
