Abstract
Considering that the existing path planning algorithms for mobile robots under rugged terrain do not consider the ground flatness and the lack of optimality, which leads to the instability of the center of mass of the mobile robot, this paper proposes an improved A* algorithm for mobile robots under rugged terrain based on the ground accessibility model and the ground ruggedness model. Firstly, the ground accessibility and ruggedness models are established based on the elevation map, expressing the ground flatness. Secondly, the elevation cost function that can obtain the optimal path is designed based on the two types of models combined with the characteristics of the A* algorithm, and the continuous cost function is established by connecting with the original distance cost function, which avoids the center-of-mass instability caused by the non-optimal path. Finally, the effectiveness of the improved algorithm is verified by simulation and experiment. The results show that compared with the existing commonly used path planning algorithms under rugged terrain, the enhanced algorithm improves the smoothness of paths and the optimization degree of paths in the path planning process under rough terrain.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
