Path Planning for Amphibious Robots based on Multi-optimization Strategy A Algorithm

For wheel-propeller amphibious robot, finding the optimal motion path is essential to improve the efficiency of autonomous navigation, as they have energy limitations in completing tasks such as detecting and autonomously recovering photovoltaic equipment on the water surface. The A* algorithm is wi...

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Bibliographic Details
Main Authors: Fu, Qiang, Mu, Chunyu, Wang, Chunjie, Zhang, Zufeng, Zhao, Hanyu
Format: Conference Proceeding
Language:English
Subjects:
A algorithm
Amphibious robots
Heuristic algorithms
Mobile robots
multi-optimization strategy
Path planning
Planning
Safety
Turning
wheel-propeller amphibious robot
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Summary:For wheel-propeller amphibious robot, finding the optimal motion path is essential to improve the efficiency of autonomous navigation, as they have energy limitations in completing tasks such as detecting and autonomously recovering photovoltaic equipment on the water surface. The A* algorithm is widely used for the autonomous navigation of robots, but traditional A* algorithms have problems such as too many turning points, low efficiency, and proximity to obstacles. To address these issues, this paper proposes a multi-optimization strategy A* algorithm aimed at improving the efficiency and safety of the robot's autonomous navigation. This paper compares the algorithm before and after optimization by simulation, and the results show that the optimized algorithm has solved the deficiencies of traditional A* algorithm, and has fast speed and safety.
ISSN:2152-744X
DOI:10.1109/ICMA57826.2023.10216165