The path planning of hybrid algorithm for patrol robots in complex environment

In this paper, an improved hybrid obstacle avoidance algorithm is proposed. The APF method has a small amount of calculation, easy to implement, and has good adaptability to dynamic environment obstacle avoidance, but it does not have certain adaptability to complex environment. The algorithm gets stuck in local minima and U-shaped obstacles. Combined with the basic principle of improved APF and A* algorithm, we propose a hybrid algorithm to solve these problems. The path planned by this hybrid path planning algorithm can plan a suitable path no matter what kind of complex environment. In addition, we perform edge dilation on the original obstacle grid map. This processing can ensure that the planned path is safe and collision-free, and the planning makes this planning algorithm universal by adjusting the puffing edge, that is, it can be adjusted according to the radius of the robot and also has a good planning effect. In addition, considering the limitation of four-wheel robot steering, we use quasi-uniform B-spline to smooth the path, shorten the length of the path and reduce the curvature of the path. Under the coordination of all aspects, we finally get a more satisfactory safe and collision-free path.