Abstract
Mobile robots are becoming more and more widely used in industry and life, so the navigation of robots in dynamic environments has become an urgent problem to be solved. Dynamic path planning has, therefore, received more attention. This paper proposes a real-time dynamic path planning method for mobile robots that can avoid both static and dynamic obstacles. The proposed intelligent optimization method can not only get a better path but also has outstanding advantages in planning time. The algorithm used in the proposed method is a hybrid algorithm based on the beetle antennae search (BAS) algorithm and the artificial potential field (APF) algorithm, termed the BAS-APF method. By establishing a potential field, the convergence speed is accelerated, and the defect that the APF is easily trapped in the local minimum value is also avoided. At the same time, by setting a security scope to make the path closer to the available path in the real environment, the effectiveness and superiority of the proposed method are verified through simulative results.
Highlights
In recent decades, path planning has had important applications in many areas, such as mobile robots [1,2,3,4,5,6], unmanned aerial vehicle (UVA) [7,8], game artificial intelligence (AI) automatic pathfinding [9], etc. [10,11,12,13]
We proposed a novel hybrid beetle antennae search (BAS)-artificial potential field (APF) method for real-time path planning
This paper is concerned with the path planning problem of mobile robots in dynamic environments
Summary
Path planning has had important applications in many areas, such as mobile robots [1,2,3,4,5,6], unmanned aerial vehicle (UVA) [7,8], game artificial intelligence (AI) automatic pathfinding [9], etc. [10,11,12,13]. Path planning has had important applications in many areas, such as mobile robots [1,2,3,4,5,6], unmanned aerial vehicle (UVA) [7,8], game artificial intelligence (AI) automatic pathfinding [9], etc. Mobile robots have been put into practical use in many industries. [14] introduced the practical application of sweeping robots for daily household cleaning, [15] proposed a robotic automatic battery sorting system for improving battery sorting efficiency, and [16] introduced many applications of mobile robots in agriculture: tilling, seeding, harvesting, etc. The paper presented in [32]
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