An improved method is proposed in this investigation to solve the problems of poor path quality and low navigation efficiency of the Informed-RRT ∗ algorithm in robot autonomous navigation. First, the greedy algorithm is introduced in the path planning procedure. When a new node is obtained, it will be judged whether it can directly reach the target point. Second, the search scope of the potential optimal parent node becomes the constructed path, instead of the node tree, which reduces the number of nodes to be searched and improves the navigation efficiency. Combined with the dynamic window approach (DWA), the improved algorithm is utilized to simulate the autonomous navigation process of the robot based on the Robot Operating System (ROS) platform. The simulation results show that compared with the original algorithm, the length of the global path is reduced by 5.15%, and the time of planning path and autonomous navigation is shortened by 78.34% and 21.67%, respectively.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.