| Zhang Hui (张慧),Rong Xuewen,Li Yibin,Li Bin,Zhang Junwen,Zhang Qin.[J].高技术通讯(英文),2016,22(3):334~342 |
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| Path planning based on sliding window and variant A* algorithm for quadruped robot |
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| DOI：10.3772/j.issn.1006-6748.2016.03.013 |
| 中文关键词: |
| 英文关键词: quadruped robot, path planning, sliding window, A* algorithm |
| 基金项目: |
| Author Name | Affiliation | | Zhang Hui (张慧) | | | Rong Xuewen | | | Li Yibin | | | Li Bin | | | Zhang Junwen | | | Zhang Qin | |
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| 中文摘要: |
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| 英文摘要: |
| In order to improve the adaptability of the quadruped robot in complex environments, a path planning method based on sliding window and variant A* algorithm for quadruped robot is presented. To improve the path planning efficiency and robot security, an incremental A* search algorithm (IA*) and the A* algorithm having obstacle grids extending (EA*) are proposed respectively. The IA* algorithm firstly searches an optimal path based on A* algorithm, then a new route from the current path to the new goal projection is added to generate a suboptimum route incrementally. In comparison with traditional method solving path planning problem from scratch, the IA* enables the robot to plan path more efficiently. EA* extends the obstacle by means of increasing grid g-value, which makes the route far away from the obstacle and avoids blocking the narrow passage. To navigate the robot running smoothly, a quadratic B-spline interpolation is applied to smooth the path. Simulation results illustrate that the IA* algorithm can increase the re-planning efficiency more than 5 times and demonstrate the effectiveness of the EA* algorithm. |
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