Xianwen Yu, Yaqi Liu, and Luchao Kui
Path planning, DLite, obstacle avoidance optimisation, turn node optimisation.
Aiming at the problems of path planned by DLite being near obsta- cles and having redundant turns, an improved method is proposed to improve the path. First, the obstacle penalty item is added to the nodes near the obstacle to reduce the probability of dangerous nodes being selected into the final path. Then, in the process of node expansion, the turn penalty is added to reduce the probability of the turn expansion mode being selected, and the “Turn” restriction is added to eliminate unnecessary turns without changing successor node. Finally, arc and cubic Bezier curves are generated, respectively to smooth single turn and double turn, so as to retain more straight paths and reduce path deviation. The final experimental results show that the improved algorithm can avoid dangerous nodes being selected into the final path and reduce unnecessary turns. At the same time, the path length does not increase significantly. Through comparison experiments with other algorithms in the same environment, the improved algorithm has better performance in path length and path smoothness. The effectiveness of the improved algorithm in improving path security and practicability is proved.
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