The Dynamic Path Planning of Indoor Robot Fusing B-Spline and Improved Anytime Repairing A* Algorithm

Abstract

A path planning method fused B-spline curves, and an improved anytime repairing A* algorithm path planning method (BS-IARA*) is proposed to address the needs for timeliness, feasibility, and optimality in robot path planning in indoor dynamic environments. In this method, firstly, adaptive expansion factors and dynamic search step strategies are introduced in the initial stage and iterative process of the algorithm, respectively, to improve the low expansion factor preference defect and low search efficiency in the anytime repairing A* algorithm; Secondly, the resulting path is optimized using B-spline curves to enhance the smoothness and feasibility of the track. Simulation experiments in a static environment show that the introduced improved strategies can combine to enhance path quality and planning efficiency; simulation experiments in a dynamic environment show that the method can generate feasible paths quickly, with better path cost and smoothing than the standard anytime repairing A* and Randomized Weighted A* algorithms, and continuously improve the path optimality in a specified time to meet the needs of dynamic path planning.

Keywords

• Dynamic path planning
• improved anytime repairing A* algorithm
• B-spline curves