A Path Planning Algorithm of Mobile Robot in Known 3D Environment

AbstractFor path planning problem of mobile robot in a known three-dimensional (3D) environment, proposed a path planning algorithm. Firstly, rasterize the known three-dimensional environment. Established the running costs estimate model for the grids from starting point to the target. Using the model to estimate the running costs for each grid. Then used A* search algorithm to calculate the grid path from starting to target with lowest running costs. By detectives of mobile robot, we planned an optimum path under the constraints of grids using hill climbing algorithm. Simulated results show that the algorithm can reduce the uphill or downhill times and running costs improve security, avoid the problem of local minimum. It is simple and robustness.