Path Planning of Indoor Liftable Mobile Robot Based on Improved D* Lite Algorithm and Height Matching

摘要

In the indoor environment, there are some shortcomings in the path planning of the highly adjustable autonomous mobile robot based on the D* lite algorithm. A D* Lite optimization algorithm is proposed in this paper. The algorithm improves the heuristic function and solves the problem of uncoordinated planning path length and search efficiency caused by inaccurate heuristic values. Secondly, by introducing a Bresenham linear algorithm, the planned path has fewer turning angles and arbitrary turning angles, and a safety cost term is introduced in the evaluation function to ensure that the robot maintains a suitable distance from the obstacle during the travel process. In addition, a Height-based map-matching strategy is proposed in this paper to improve the success rate of robot path planning in a narrow indoor environment. Experiments verify the feasibility and effectiveness of the proposed algorithm.