Abstract
Under the premise of grid environment modeling method, a relaxed Dijkstra algorithm is proposed to solve the problem of real-time path planning for mobile robot in large-scale and obstacle intensive working environment. Firstly, four neighborhood search is used to construct the Manhattan distance potential field from the source point to the global point in linear time, and then eight neighborhood search is performed from the target point to the source point to return a collision free and approximately optimal path. Matlab simulation results show that the algorithm is 10 times faster than dijksta algorithm and A-star algorithm, and the error of path length is within a reasonable range compared with the shortest path.
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