Computer Science

Computer Science ›› 2021, Vol. 48 ›› Issue (10): 19-29.doi: 10.11896/jsjkx.200700114

• Artificial Intelligence • Previous Articles     Next Articles

Overview of Global Path Planning Algorithms for Mobile Robots

WANG Zi-qiang1, HU Xiao-guang2, LI Xiao-xiao1, DU Zhuo-qun1   

  1. 1 School of Information and Network Security,People's Public Security University of China,Beijing 100038,China
    2 School of Investigation,People's Public Security University of China,Beijing 100038,China
  • Received:2020-07-19 Revised:2021-01-26 Online:2021-10-15 Published:2021-10-18
  • About author:WANG Zi-qiang,born in 1996,master.His main research interests include autonomous navigation of mobile robot.
    HU Xiao-guang,born in 1980,Ph.D,lecturer.His main research interests include application of intelligent technology in artificial intelligence and computer vision.
  • Supported by:
    Special Project of People's Public Security University of China(2020JWCX08),Opening Project of Shanghai Key Laboratory of Crime Scene Evidence(2020XCWZK05) and National Key Research and Development Program of China.

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Abstract: Global path planning is the key technology of mobile robot outdoor work,and global path planning algorithm is mainly used in geographical scenarios to predict the outdoor environment.In the face of the complex outdoor environment,the robot optimizes the algorithm to improve real-time obstacle avoidance of robot path planning,path smoothness,planning effectiveness,which has become the core content in the research of global path planning algorithm.Depending on the degree of intelligent algorithm,the global path planning algorithm for mobile robot is divided into traditional global path planning algorithm and the bionic intelligent global path planning algorithm.Then,this paper further expounds the current practical multi-objective path planning algorithm,introduces several typical optimizations of each algorithm,and summarizes and analyzes the advantages and disadvantages of the improved algorithm.Finally,this paper discusses the future development trend of global path algorithm,and points out four aspects of future research and development,which are optimizing the performance of the conventional algorithm for path planning,various existing algorithms advantage integration,complex environment dynamic obstacle avoidance and improving map representation methods adapting to diverse environment.

Key words: Bionic intelligent algorithm, Global path planning, Mobile robot, Multi-objective path planning, Traditional algorithm

CLC Number: 

  • TP242
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