计算机应用研究2024，Vol.41Issue(11)：3251-3257,7.DOI:10.19734/j.issn.1001-3695.2024.03.0099
改进JPS算法融合DWA的多机器人路径规划
Improved JPS algorithm fused with DWA for multi robot path planning
摘要
Abstract
For the traditional JPS algorithm in mobile robot path planning,there are path inflection points as well as too many intermediate jump points,and the path planning time is long.This paper proposed an improved jump point search(JPS)algo-rithm.The I-JPS algorithm eliminated redundant nodes and increased the safe distance between the robot and obstacles by impro-ving the cost function and introducing the fork product formula.It also introduced DWA for local path planning for temporary ob-stacle avoidance and path smoothing by robots,and increased the priority of obstacle avoidance between multiple robots by impro-ving DWA.Finally,it introduced multi-robot collaborative path planning,where multiple robots could work together and com-plete complex tasks,and the robots could also share information,coordinate their actions,and solve problems through division of labour to improve the efficiency of task completion.Finally,the experimental simulation results show that the improved algorithm is greatly improved in all aspects compared to the pre-improved one.关键词
跳点搜索/路径规划/动态窗口法/代价函数/多机器人Key words
jump point search/path planning/dynamic window method/heuristic function/multiple robots分类
信息技术与安全科学引用本文复制引用
任祥瑞,王正刚,汤俊杨..改进JPS算法融合DWA的多机器人路径规划[J].计算机应用研究,2024,41(11):3251-3257,7.基金项目
安徽省高校科学研究重点项目(2022AH050977) （2022AH050977）
