A novel global path planning method for robot based on dual-source light continuous reflection

Jintao Ye; Lina Hao; Hongtai Cheng; Xingchen Li

doi:10.1016/j.isatra.2024.05.006

A novel global path planning method for robot based on dual-source light continuous reflection

ISA Trans. 2024 May 9:S0019-0578(24)00209-X. doi: 10.1016/j.isatra.2024.05.006. Online ahead of print.

Authors

Jintao Ye¹, Lina Hao², Hongtai Cheng¹, Xingchen Li¹

Affiliations

¹ School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China.
² School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China. Electronic address: haolina@me.neu.edu.cn.

PMID: 38755064
DOI: 10.1016/j.isatra.2024.05.006

Abstract

Aiming to address the problem of robot path planning in environments containing narrow passages, this paper proposes a novel global path planning method: the DSR (Dual-source Light Continuous Reflection Exploration) algorithm. This algorithm, inspired by the natural reflection of light, employs the concept of continuous reflection for path planning. It can efficiently generate an asymptotically optimal path on the map containing narrow passages. The DSR algorithm has been evaluated on different maps with narrow passages and compared with other algorithms. In comparison with the bidirectional Rapidly-exploring Random Tree algorithm, the DSR algorithm achieves a significant reduction in both path length (by 27.08% and 34.35%) and time consumption (by 98.47% and 91.03%). Numerical simulations and experimental analysis have demonstrated the excellent performance of the DSR algorithm.

Keywords: Dual-source; Global; Light reflection; Path planning; Robot.