Global Path Planning Method Based on a Modification of the Wavefront Algorithm for Ground Mobile Robots

This article is focused on the problematics of path planning, which means finding the optimal path between two points in a known environment with obstacles. The proposed path-planning method uses the wavefront algorithm, and two modifications are implemented and verified. The first modification is t...

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Bibliographic Details
Published in:Robotics (Basel) 2023-02, Vol.12 (1), p.25
Main Authors: Psotka, Martin, Duchoň, František, Roman, Mykhailyshyn, Michal, Tölgyessy, Michal, Dobiš
Format: Article
Language:English
Subjects:
Accuracy
Algorithms
B spline functions
B-spline curves
Barriers
Costs
Energy consumption
Genetic algorithms
global path planning
ground mobile robot
Localization
Robot dynamics
Robots
ROS
Sensors
Smoothness
Trajectory planning
Wave fronts
wavefront algorithm
Waypoints
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Summary:This article is focused on the problematics of path planning, which means finding the optimal path between two points in a known environment with obstacles. The proposed path-planning method uses the wavefront algorithm, and two modifications are implemented and verified. The first modification is the removal of redundant waypoints. The first modification is applied because the wavefront algorithm generates redundant waypoints. These waypoints cause unnecessary changes in the direction of movement. The second one is smoothing the generated trajectory using B-spline curves. The reason for applying the second modification is that trajectory generated by the wavefront algorithm is in the form of the polyline, which is inadequate in terms of the smoothness of the robot’s motion. The verification of the proposed method is performed in environments with different densities of obstacles compared with standard Dijkstra’s and A* algorithms.
ISSN:2218-6581
2218-6581
DOI:10.3390/robotics12010025