Research on Path Planning Algorithm of Service Robot in Dynamic Environment

Abstract

With the popularity of service robots in dynamic environments such as hospitals and shopping malls, traditional path planning algorithms have problems such as inflection points of planning paths and difficulty in effectively avoiding dynamic obstacles. In response to these problems, this paper proposes an optimization algorithm based on A* and dynamic window method (DWA). First, in the global path planning, the number of turning points is reduced by deleting redundant turning points. Secondly, by establishing the motion model of the obstacle, the range of the dynamic obstacle is updated to the static environment, and the dynamic obstacle avoidance ability of the DWA algorithm is improved. Finally, the optimized A* algorithm is combined with the DWA algorithm to realize the path planning of the service robot in a dynamic environment. Experimental results show that the algorithm reduces the global path length without disturbing dynamic obstacles, the path is smoother, and the dynamic obstacle avoidance ability is more reliable.