A Path Planning Method with Minimum Energy Consumption for Multi-joint Mobile Robot

摘要：

　　In the field of intelligent robot,path planning is a hot issue of common concern.A* algorithm is widely used.By improving the search strategy based on A* algorithm,considering the impact of different ground conditions and cornering angle on the mobile peed and energy consumption of robot in the real environment,as well as multi-joint mobile robot constraints on cornering angle and other factors,this paper presents an improved A* algorithm of path planning which spends the minimum energy.From the simulation of multi-joint mobile robot,the algorithm is efficient for path planning in complex ground conditions,which made the energy consumption a third of the traditional algorithm A*.

关键词： complex environments multi-joint energy consumption Dijkstra algorithm A* algorithm

作者: Zhao Xu Su Zhong Dou Lihua

作者单位: School of Automation,Beijing Institute of Technology,Beijing,100084,China;Beijing Key Laboratory of School of Automation,Beijing Institute of Technology,Beijing,100084,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8326-8330

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）