Aiming at the problem of robot path planning in complex maps, an algorithm of robot path planning based on triangular grid graph is proposed. Firstly, a weighted undirected loop graph and a feasible domain of nodes are obtained by discretizing the triangular mesh map. Next, the Dijkstra search algorithm is applied to find the feasible shortest path from an initial to a final configuration. Finally, The Douglas-Peucker algorithm is applied to remove duplicate and redundant nodes in the feasible path, and the waypoint are extracted. The final path is a curve that is obtained by connecting the several extracted waypoint. The proposed algorithm is tested for various maps. Compared with probabilistic roadmap method, the experimental results show that the proposed method can overcome the shortcomings of the random sampling method. Furthermore, the experimental result of triangular mesh map method used in two labyrinth maps show that the triangular mesh map method can solve the robot path planning problem in complex map very well, and it is an excellent algorithm for robot path planning.
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Recommended by Associate Editor Augie Widyotriatmo under the direction of Editor Myo Taeg Kim. The author acknowledges the support provided by Anhui Natural Science Foundation (Nos.1708085QF135 and J2017A077), Young Talents Foundation of Anhui Province (No. gxyqZD2016082), Foreign Visiting Project of Outstanding, Young Talents in Anhui (No. gxfx2017025) and National Natural Science Foundation of China (No.51604011).
Yanbin Liu received his Ph.D. degree from Harbin Institute of Technology, Harbin, China, in 2011. His research interests include nonlinear dynamics and control, optimal path planning, signal processing, and fault diagnosis of electromechanical system.
Yuanyuan Jiang received her Ph.D. degree from the Nanjing University of Aeronautics and Astronautics (NUAA). She is currently a Professor with the Department of Electrical and Information Engineering, Anhui University of Science and Technology. Her current research interests include signal processing and PHM of electronic systems.
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Liu, Y., Jiang, Y. Robotic Path Planning Based on a Triangular Mesh Map. Int. J. Control Autom. Syst. 18, 2658–2666 (2020). https://doi.org/10.1007/s12555-019-0396-z
- PRM method
- robotic path planning
- triangular mesh map