Research on path planning technology of mobile robot in the restaurant scene based on A* and D* algorithm

Abstract

Intelligent robots have found widespread applications in various fields including medical treatment, industrial production, and social services. These robots are specifically designed to fulfill diverse tasks in different environments, the design and control of these robots play a crucial role in ensuring their efficiency and security. In response to the high demand for fast and convenient service, the catering field is a crucial and promising application field for intelligent robots. This article is primarily focused on the robot in the restaurant scene where the robot could automatically deliver food to the customers, thus reducing the burden on human service providers. In this special environment, the delivery robot must possess the capability to identify its surroundings within the restaurant and autonomously calculate an obstacle-free path from the starting point to the desired destination without colliding with either obstacles or individuals. In this article, the restaurant scene is built in the Gazebo, and map scanning and conversion methods are utilized to enable the robots to recognize the environment effectively. Furthermore, A* and D* algorithms are employed in Python to achieve global and local path planning, respectively, thus validating the feasibility of the methods. The combination of these two algorithms demonstrates a successful path-planning application within the context of a restaurant scene.