Cong Liu, Xiaobin Xu, Xinhong Li, Zhijie Pan, Kai Hu, You Shu
{"title":"基于能量模型改进A *算法的全向移动机器人路径规划","authors":"Cong Liu, Xiaobin Xu, Xinhong Li, Zhijie Pan, Kai Hu, You Shu","doi":"10.1109/PIC53636.2021.9687067","DOIUrl":null,"url":null,"abstract":"A path planning framework for an omnidirectional mobile robot based on modified A * algorithm with energy model is proposed. The kinematic model of the omnidirectional mobile robot is established, and the energy consumption model of the omnidirectional mobile robot during motion is established based on the detailed derivation of formulas and used to improve the A* algorithm. The derived results show that the extra power consumed in steering movement is only related to the steering angle.","PeriodicalId":297239,"journal":{"name":"2021 IEEE International Conference on Progress in Informatics and Computing (PIC)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-12-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Path Planning for an Omnidirectional Mobile Robot Based on Modified A * Algorithm with Energy Model\",\"authors\":\"Cong Liu, Xiaobin Xu, Xinhong Li, Zhijie Pan, Kai Hu, You Shu\",\"doi\":\"10.1109/PIC53636.2021.9687067\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A path planning framework for an omnidirectional mobile robot based on modified A * algorithm with energy model is proposed. The kinematic model of the omnidirectional mobile robot is established, and the energy consumption model of the omnidirectional mobile robot during motion is established based on the detailed derivation of formulas and used to improve the A* algorithm. The derived results show that the extra power consumed in steering movement is only related to the steering angle.\",\"PeriodicalId\":297239,\"journal\":{\"name\":\"2021 IEEE International Conference on Progress in Informatics and Computing (PIC)\",\"volume\":\"38 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-12-17\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE International Conference on Progress in Informatics and Computing (PIC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/PIC53636.2021.9687067\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE International Conference on Progress in Informatics and Computing (PIC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/PIC53636.2021.9687067","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Path Planning for an Omnidirectional Mobile Robot Based on Modified A * Algorithm with Energy Model
A path planning framework for an omnidirectional mobile robot based on modified A * algorithm with energy model is proposed. The kinematic model of the omnidirectional mobile robot is established, and the energy consumption model of the omnidirectional mobile robot during motion is established based on the detailed derivation of formulas and used to improve the A* algorithm. The derived results show that the extra power consumed in steering movement is only related to the steering angle.
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