Citation: | LI Shuanglin, HE Jiahao, AO Haiyue, et al. Real-time obstacle avoidance algorithm based on pigeon-inspired optimization[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 359-365. doi: 10.13700/j.bh.1001-5965.2020.0198(in Chinese) |
In order to ensure that the mobile robot can reach the target position without collisions, this paper proposes a real-time obstacle avoidance algorithm that integrates the pigeon-inspired optimization into the Circle Sector Expansion plus (CSE+) method. This algorithm includes a judgment mechanism to evaluate the distribution of obstacles. When the obstacles are densely distributed, the safest path will be selected. Otherwise, the pigeon-inspired optimization will be used to find an optimal position as the next target position in the safe range. In addition, a search tree is used to detect and avoid the dead-end situation. The simulation results show that this algorithm can improve the efficiency of path planning, the effect is more obvious when the obstacles are sparsely distributed, the dead-end situation can be detected, and the robot can pass through the narrow and long corridors.
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