Robot Path Planning Method Based on Level Set

Abstract

For the problem of robot path planning under the action of external force field, the directionality of outward force can promote and hinder the movement of the robot. The continuous path planning method can break through the traditional robot path planning algorithm based on grid search. Limit, effectively utilize the external force field existing in the space, and improve the numerical implementation method to ensure the feasibility of the planned path in the strong external force field. Based on the Level Set method, the path planning problem is defined. The particle tracking of the robot is transformed into the numerical evolution of the curve. The optimal time path is obtained by solving the Hamilton-Jacques equation. The numerical calculation accuracy of the improved backward path tracking is guaranteed. The feasibility of planning the path. The simulation results show that the algorithm can effectively deal with a variety of complex external force fields and maintain the path in a strong external force field.