Improved Global Path Planning Algorithm Based on Ray Model

JIANG Lin; FANG Dong-jun; ZHOU He-wen; HUANG Hui-bao

doi:10.12263/DZXB.20210307

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Improved Global Path Planning Algorithm Based on Ray Model

PAPERS | 更新时间：2025-12-11

- Improved Global Path Planning Algorithm Based on Ray Model
- ACTA ELECTRONICA SINICA Vol. 50, Issue 3, Pages: 548-556(2022)
- 作者机构：
  
  1.武汉科技大学冶金装备及其控制教育部重点实验室, 湖北武汉 430081
  2.武汉科技大学机器人与智能系统研究院，湖北武汉 430081
  3.珠海市一微半导体有限公司，广东珠海 519000
- 作者简介：
- 基金信息：
- DOI：10.12263/DZXB.20210307
  CLC： TP242.6
- Received：04 March 2021，
  
  Revised：2021-03-19，
  
  Published：25 March 2022
- 稿件说明：
移动端阅览
蒋林,方东君,周和文等.基于射线模型的改进全局路径规划算法[J].电子学报,2022,50(03):548-556.

JIANG Lin,FANG Dong-jun,ZHOU He-wen,et al.Improved Global Path Planning Algorithm Based on Ray Model[J].ACTA ELECTRONICA SINICA,2022,50(03):548-556.
蒋林,方东君,周和文等.基于射线模型的改进全局路径规划算法[J].电子学报,2022,50(03):548-556. DOI： 10.12263/DZXB.20210307.

JIANG Lin,FANG Dong-jun,ZHOU He-wen,et al.Improved Global Path Planning Algorithm Based on Ray Model[J].ACTA ELECTRONICA SINICA,2022,50(03):548-556. DOI： 10.12263/DZXB.20210307.

摘要

针对目前服务于移动机器人的全局路径规划算法存在拐点多、耗时长或递归计算复杂等问题，本文提出一种基于射线模型的改进全局路径搜索算法.利用形态学滤波处理障碍物栅格地图，并引入碰撞估值增加靠近障碍物的栅格的代价值，形成梯度代价栅格地图.结合射线模型从起点向终点进行射线搜索，并在搜索过程中通过逆向优化算法优化路径.通过实验证明该全局路径规划算法比A*算法拥有更好的平滑性、灵活性、稳定性以及更短的路程，且搜索速度比A*快50%，移动机器人可以更安全、简洁的路径向目标点移动.

Abstract

Aiming at the problems of many inflection points

long time consuming and complex recursive calculation in the global path planning algorithms currently used for mobile robots

an improved global path search algorithm based on ray model is proposed. Morphological filtering is used to process the raster map of obstacles

and collision estimation is introduced to increase the generation value of the raster near the obstacles

and the gradient cost raster map is formed. Combined with the ray model

ray search is carried out from the beginning to the end

and the path is optimized by the inverse optimization algorithm during the search process. Experiments show that the global path planning algorithm has better smoothness

flexibility， and stability. Our algorithm not only has shorter moving distance

but also has 50% faster search speed than A* algorithm. The mobile robot can move to the target point in a safer and simpler path.

关键词

Keywords

references

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