A Novel Hybrid Path Planning Method for Mobile Robots

In practical applications, an appropriate path planning algorithm needs to be selected according to the actual situation. Using the Cartographer algorithm based on graph optimization to build the map, and using AMCL positioning at the same time, the problem of low accuracy caused by its own defects has been successfully solved. A* algorithm original path trajectory inflection point, node redundancy phenomenon is obvious, longer running time, and even difficult to plan the optimal path An improved A* algorithm is proposed, which uses adding weight coefficient w, adaptively adjusting the step size algorithm and cubic Bezier curve make up for the lack of more turning points, larger turning angles and longer running time in the algorithm search. The hybrid path planning algorithm combining the improved A* algorithm and the dynamic window method solves the problem that the A* algorithm cannot avoid dynamic obstacles in complex environments, and prevents the mobile robot from falling into local optimum. Experiments show that the improved algorithm can effectively solve the problems of more turning points, larger turning angles and longer running time encountered by the mobile robot in the search.