Autonomous Navigation of Robots Based on the Improved Informed-RRT∗ Algorithm and DWA
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...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2022/3477265 |
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| _version_ | 1832565600268845056 |
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| author | Jun Dai Dongfang Li Junwei Zhao Yanqin Li |
| author_facet | Jun Dai Dongfang Li Junwei Zhao Yanqin Li |
| author_sort | Jun Dai |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-a19a05f896f64849b1b44b8eee033700 |
| institution | Kabale University |
| issn | 1687-9619 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-a19a05f896f64849b1b44b8eee0337002025-02-03T01:07:12ZengWileyJournal of Robotics1687-96192022-01-01202210.1155/2022/3477265Autonomous Navigation of Robots Based on the Improved Informed-RRT∗ Algorithm and DWAJun Dai0Dongfang Li1Junwei Zhao2Yanqin Li3Department of Mechanical and Power EngineeringDepartment of Mechanical and Power EngineeringDepartment of Mechanical and Power EngineeringDepartment of Mechanical and Power EngineeringAn 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.http://dx.doi.org/10.1155/2022/3477265 |
| spellingShingle | Jun Dai Dongfang Li Junwei Zhao Yanqin Li Autonomous Navigation of Robots Based on the Improved Informed-RRT∗ Algorithm and DWA Journal of Robotics |
| title | Autonomous Navigation of Robots Based on the Improved Informed-RRT∗ Algorithm and DWA |
| title_full | Autonomous Navigation of Robots Based on the Improved Informed-RRT∗ Algorithm and DWA |
| title_fullStr | Autonomous Navigation of Robots Based on the Improved Informed-RRT∗ Algorithm and DWA |
| title_full_unstemmed | Autonomous Navigation of Robots Based on the Improved Informed-RRT∗ Algorithm and DWA |
| title_short | Autonomous Navigation of Robots Based on the Improved Informed-RRT∗ Algorithm and DWA |
| title_sort | autonomous navigation of robots based on the improved informed rrt∗ algorithm and dwa |
| url | http://dx.doi.org/10.1155/2022/3477265 |
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