A Research Of Robot Path Planning Based On Energy Efficiency

With the development of science and technology and the increase of human demands,the application of path planning technology are also gradually expanding.Especially under the background of Artificial Intelligence and the Internet boom,path planning in the robot application field is widely concerned and in-depth studied.On the one hand,the research on robot path planning are mostly limited in two-dimensional plane,there are large difference in the real working environment with robot,especially some complex field work environment.On the other hand,in the two-dimensional plane or flat environment,the shortest path length may be the most optimal path,but in some complex uneven terrain environment,the shortest path often need to consume more energy.Most of robot are powered with limited energy source,power system energy consumption will directly influence the robot's work and task.In robot path planning,therefore,how to minimize energy consumption is very important,also has certain practical significance.In view of the above problem,this paper analyzes and studies the energy-efficiency robot path planning problem under the three-dimensional terrain model based on A~* algorithm.According to the shortage of the energy cost model in the existing literature,this paper proposes a new energy cost model.Meanwhile,on the basis of design model,we achieve the Energy Optimal A~* algorithm,and compare with the Distance Optimal A~* algorithm.The simulation results show that the Energy Optimal A~* algorithm can not only find a feasible path of minimal energy consumption,also has a better practical significance than the Distance Optimal A~* algorithm;Compared with existing research,the proposed energy cost model in this paper can not only reduce the total energy consumption of optimal path,also can improve the smoothness of the path to a certain extent.In addition,we carry out some related simulation experiments under the constraint model,and illustrate the flexibility of the Energy Optimal A~* algorithm from one side.Furthermore,on the basis of the Energy Optimal A~* algorithm,we study the optimization of the algorithm,and propose two improved strategies that mainly on the search space and running time.First is aimed at the optimization of the search space,this paper puts forward the Multi-Neighbor Search strategy,and implement Multi-Neighbor Search A~* algorithm.Simulation results show the improved strategy can get lower energy consumption optimal path,and the path is relatively more smoothness.Next to Multi-Neighbor Search A~* algorithm running time is too long,combined with the idea of Dynamic-Weighted,we put forward the DynamicWeighted Multi-Neighbor Search A~* algorithm.Finally,simulation results demonstrate that Dynamic-Weighted Multi-Neighbor Search A~* algorithm has little difference with MultiNeighbor Search A~* algorithm in energy optimal path,but further shorten the running time,which proves the validity of the improved A~* algorithm.