Research on Path Planning of Mobile Robot Based on Improved Jump Point Search Algorithm

摘要

In view of the traditional jump point search algorithm, there are too many turning points in the path generated, which leads to its shortcomings, such as the path finding is not optimal, and the path smoothness is poor. This paper presents an improved jump point search algorithm. Firstly, the shortest search strategy is adopted to backtrack and generate pathfinding paths in the process of quadratic path planning, and the redundant nodes with only changing direction are eliminated to realize the long jump. Then the pathfinding generated path using quadratic bezier curve is at a turning point to path curve, aims to improve the smoothness of the path, the feasibility of the algorithm are verified through the test, and for a variety of different specifications of two-dimensional grid network map simulation experiment, the result of simulation shows that the improved shorter path length, and the smoothness of the path obviously improved. In order to test the implementation effect of the improved algorithm in the actual environment, it was carried on the ROS mobile robot for experiment. The experimental results show that the path generated by the improved JPS algorithm is more conducive to the robot operation and the execution efficiency is higher.