METHOD FOR PLANNING SHORTEST PATH IN ROBOT OBSTACLE AVOIDANCE

摘要

Provided is a method for planning a shortest path in robot obstacle avoidance, comprising the following steps: using a convolution operation to obtain a probability grid map by; improving an original A* algorithm and obtaining a cost function of the improved A* algorithm; using the improved A* algorithm to search for, on the basis of the probability grid map, the shortest path from a starting point to an end point. The method of the present invention for planning a shortest path in robot obstacle avoidance improves an original grid map to obtain a probability grid map, and uses an improved A* algorithm to search for, on the basis of the probability grid map, a shortest path, so that a robot can avoid an obstacle by a certain distance and move more safely and reliably on a path obtained after planning.