Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 41, 2024 No. 4
1117-1122

Improved bidirectional dynamic JPS algorithm for global path planning of mobile robot

Liu Ronghuaa
Wang Xina
Wu Dib
Xie Chunyuana
a. School of Mechanical Engineering, b. School of Computer Science & Technology, Dalian University of Technology, Dalian Liaoning 116024, China
DOI: 10.19734/j.issn.1001-3695.2023.08.0369

Abstract

In order to address the issues with the jump point search algorithm in the process of pathfinding, such as numerous path inflection points, numerous intermediate search hop points, numerous extended nodes, and lengthy pathfinding time in the process of finding jump points, this paper proposed the improved bidirectional dynamic JPS algorithm. The improved algorithm dynamically defined the target points in the forward and reverse expansion directions, dynamically defined the heuristic function, and used the dynamic constraint ellipse to restrict the expansion region of the algorithm to distinguish the expansion priorities of the inner and outer regions of the ellipse. The new cost minimum point served as the focus of the new ellipse, and the orientation and constraint region were dynamically changed as the extension from the starting point and goal point to each other. The simulation results show that the optimized bidirectional dynamic JPS algorithm has a certain performance in general maps, especially in indoor environment maps with fewer obstacles and the target point is close to the starting point.

Foundation Support

中央高校基本科研业务费资助项目(DUT22LAB507)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.08.0369
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 4
Section: Algorithm Research & Explore
Pages: 1117-1122
Serial Number: 1001-3695(2024)04-023-1117-06

Publish History

[2023-11-02] Accepted Paper
[2024-04-05] Printed Article

Cite This Article

刘荣华, 王欣, 吴迪, 等. 改进双向动态JPS算法的移动机器人全局路径规划 [J]. 计算机应用研究, 2024, 41 (4): 1117-1122. (Liu Ronghua, Wang Xin, Wu Di, et al. Improved bidirectional dynamic JPS algorithm for global path planning of mobile robot [J]. Application Research of Computers, 2024, 41 (4): 1117-1122. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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