Fig 1.
Schematic diagram of expansion distance.
Fig 2.
The process of BFS.
Fig 3.
Schematic diagrams of bidirectional search.
(a) Unidirectional search. (b) Bidirectional search without obs. (c) Bidirectional search with an obstacle. (d) Bidirectional search with multiple obstacles.
Fig 4.
Smoothing optimization strategy for a single right-angle turn.
Fig 5.
Smoothing optimization strategy for continuous right-angle turns.
Fig 6.
The execution process of the EBS-A* algorithm.
Fig 7.
Simulation results of four algorithms on a 50×50 map.
(a) A* algorithm. (b) A* with expansion distance. (c) Bidirectional A* with expansion distance. (d) EBS-A* algorithm.
Table 1.
Simulation results of four algorithms on a 50×50 map.
Table 2.
Average simulation results of four algorithms on randomized 50×50 maps.
Fig 8.
Simulation results of four algorithms on a 100×100 map.
(a) A* algorithm. (b) A* with expansion distance. (c) Bidirectional A* with expansion distance. (d) EBS-A* algorithm.
Fig 9.
Simulation results of four algorithms on a 150×150 map.
(a) A* algorithm. (b) A* with expansion distance. (c) Bidirectional A* with expansion distance. (d) EBS-A* algorithm.
Fig 10.
Simulation results of four algorithms on a 200×200 map.
(a) A* algorithm. (b) A* with expansion distance. (c) Bidirectional A* with expansion distance. (d) EBS-A* algorithm.
Table 3.
Simulation results of four algorithms on a 100×100 map.
Table 4.
Average simulation results of four algorithms on randomized 100×100 maps.
Table 5.
Simulation results of four algorithms on a 150×150 map.
Table 6.
Average simulation results of four algorithms on randomized 150×150 maps.
Table 7.
Simulation results of four algorithms on a 200×200 map.
Table 8.
Average simulation results of four algorithms on randomized 200×200 maps.
Fig 11.
The path planning of the geometric A*.
Fig 12.
The path planning of the EBS-A*.
Table 9.
Algorithm performance comparison.
Fig 13.
Comparison graph of algorithm running time.
Fig 14.
FS-AIROBOTB component diagram.
Table 10.
FS-AIROBOTB component serial number comparison table.
Fig 15.
Actual test environment and the map constructed by SLAM.
Fig 16.
The rviz interface of path planning and extracted path.