To solve the problems of high computational time and slow response in the path planning algorithm of the reconnaissance and inspection robot in the unknown map environment, a dynamic path planning method and obstacle avoidance strategy suitable for unknown map information are proposed.Firstly, improves the key point generation method of the Jump Point Search(JPS) algorithm, and propose a "designated dynamic jump point" strategy for the search requirements in a large map dynamic environment.Secondly, proposes a "re-search" strategy to address the problem of the "designated dynamic jump point" strategy that is not easy to detach from within a concave obstacle.Finally, carries out simulations and experiments in a concave obstacle environment.The experiment results show that in the experimental environment, the proposed path planning algorithm can ensure a shorter running path at the same time.The average time consumption of the planning algorithm is reduced by 73.86%, and the number of search nodes is reduced by 71.28%, which proves that the proposed algorithm occupies less equipment resources and is more efficient.
Key words
reconnaissance and inspection robot /
dynamic path planning /
jump point search
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