基于双层地图的分段式路径规划

Segmented Path Planning Based on Double Layer Map

为了解决移动机器人通过传统A~*算法路径规划经过门时因规划的路径靠近障碍物,导致定位丢失的问题,提出了基于双层地图的分段式路径规划方法。该方法通过对已经建立的栅格地图进行处理,从而绘制出门点图层,通过计算路径在门点图层上的代价值来判断路径是否经过门,而当判断出路径需要经过门时,则通过对原有路径进行分段路径规划。所提出的方法通过实验验证有效可行,避免了在经过门时因为移动机器人距离障碍物太近导致的定位丢失问题。

In order to improve the problem that the mobile robot approaches the path of the gate when the planned path is close to the obstacle and the positioning is lost, a segmented path planning method based on double-layer map is proposed. The method processes the established grid map to draw a door point layer, and judges whether the path passes through the gate by calculating the generation value of the path on the door point layer, and when judging that the path needs to pass the door, By segmenting the path of the original path. The proposed method is valid and feasible through experiments, and avoids the problem of positioning loss caused by the mobile robot being too close to the obstacle when passing the door.