凸优化与A*算法结合的路径避障算法

Translated title of the contribution: Convex optimization and A-star algorithm combined path planning and obstacle avoidance algorithm

Guang Rong Chen*, Sheng Guo, Jun Zheng Wang, Hai Bo Qu, Ya Qiong Chen, Bo Wen Hou

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)

Abstract

To improve the obstacle avoidance ability and path planning efficiency of mobile legged robots, a convex optimization and A-star algorithm combined path planning and obstacle avoidance algorithm is proposed. Firstly, a method of iterative regional inflation by semi-definite programming (IRI-SDP) is presented to quickly compute out a large convex polygon of obstacle-free and its largest inscribed ellipse in the given ground environment through alternating two convex optimizations. The obstacle-free region is utilized for obstacle avoidance and task motion planning locally. Then, combining with the classical A-star algorithm via establishing the local and world coordinate system of mobile robots, the transfer model of the mass center of mobile robots, the impact model and the heuristics cost function, the optimal minimum-cost path in the global environment can be found. Finally, simulation results validate the effectiveness of proposed method.

Translated title of the contributionConvex optimization and A-star algorithm combined path planning and obstacle avoidance algorithm
Original languageChinese (Traditional)
Pages (from-to)2907-2914
Number of pages8
JournalKongzhi yu Juece/Control and Decision
Volume35
Issue number12
DOIs
Publication statusPublished - Dec 2021

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