ArticleSensors (Basel, Switzerland)2024
Safe Trajectory Planning for Incremental Robots Based on a Spatiotemporal Variable-Step-Size A* Algorithm.
Article in Sensors (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Radiation-Aware Path Planning Framework for Mobile Robots in Dynamic Hazardous Environments.Sensors (Basel, Switzerland) · 2026Article
- Teardrop Risk Field-Based Spatiotemporal Path Planning Method for Mobile Robots in Dynamic Environments.Sensors (Basel, Switzerland) · 2026Article
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Authors and funding
6 authors.
Funding
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Abstract
In this paper, a planning method based on the spatiotemporal variable-step-size A* algorithm is proposed to address the problem of safe trajectory planning for incremental, wheeled, mobile robots in complex motion scenarios with multiple robots. After constructing the known conditions, the spatiotemporal variable-step-size A* algorithm is first used to perform a collision-avoiding initial spatiotemporal trajectory search, and a variable time step is utilized to ensure that the robot completes the search at the target speed. Subsequently, the trajectory is instantiated using B-spline curves in a numerical optimization considering constraints to generate the final smooth trajectory. The results of simulation tests in a field-shaped, complex, dynamic scenario show that the proposed trajectory planning method is more applicable, and the results indicate higher efficiency compared to the traditional method in the incremental robot trajectory planning problem.
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Registered trials
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