关键词: 移动机器人, 路径规划, A*算法, 动态窗口法, 动态避障

Abstract: To reduce the energy consumption of the mobile robot and improve the completion rate of a given task in the dynamic environment under the condition of limited energy or insufficient supply,a path planning method based on the integration of energy-saving A* algorithm and dynamic window approach was proposed.Considering the road slope,friction and other factors,the energy consumption model of the robot was constructed,and a new path search criterion based on energy cost was proposed.Aiming at the problem of energy loss caused by redundant paths and multiple transitions,a path optimization method based on dynamic benchmark transition penalty,triangular pruning and string-definite arc transition method was proposed to ensure the optimal global path energy consumption.To solve the problem of poor flexibility of dynamic window method in narrow environment,the improved A* and dynamic window method were combined,and the heading angle self-adjustment strategy was proposed to enhance the dynamic obstacle avoidance ability.The global energy saving path deviation evaluation and energy consumption evaluation sub-functions were designed to plan the local energy saving path.Simulation results showed that the proposed method had significant improvement in energy consumption,smoothness and dynamic obstacle avoidance,and was more advantageous in complex and narrow scenes.

Key words: mobile robot, path planning, A* algorithm, dynamic window approach, dynamic obstacle avoidance