Application of A-Star Algorithm in Robot for Catering Service Based on Laser Radar Navigation

摘要

In order to improve performance of robot autonomous job completion, soft and hard architecture of robot for catering service is designed by laser radar based on ROS system in this paper. And method of general planning path is provided for robot for catering service by A-Star Algorithm. Based on established grid map, mobile path of mobile robot is obtained by continuous search for paths approaching to destination, so as to narrow search area and reduce problem complexity. Paths of service robot under static and dynamic obstacles are tested, which finds that robot can avoid obstacles effectively through coordination with laser radar as well as one optimized path can be planned. Such experiments show that A-Star Algorithm testified in robot for catering service path planning has robustness and efficiency.