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App. Res. of Comp. Accepted Paper
Vol. 41, 2024 No. 11

Improved jps algorithm fused with dwa for multi robot path planning

Ren Xiangrui
Wang Zhenggang
Tang Junyang
College of Electrical Engineering, Anhui Polytechnic University, Wuhu Anhui 241000, China
DOI: 10.19734/j.issn.1001-3695.2024.03.0099

Abstract

For the traditional Jump Point Search (JPS) algorithm in mobile robot path planning, there are path inflection points as well as too many intermediate jump points, and the path planning time is long. An improved Jump Point Search (JPS) algorithm is proposed. The I-JPS algorithm eliminates redundant nodes and increases the safe distance between the robot and obstacles by improving the cost function and introducing the fork product formula. Dynamic Window Approach (DWA) is also introduced for local path planning for temporary obstacle avoidance and path smoothing by robots, and the priority of obstacle avoidance between multiple robots is increased by improving DWA. Finally, multi-robot collaborative path planning is introduced, where multiple robots can work together and complete complex tasks, and the robots can also share information, coordinate their actions, and solve problems through division of labour to improve the efficiency of task completion. Finally, the experimental simulation results show that the improved algorithm is greatly improved in all aspects compared to the pre-improved one.

Foundation Support

安徽省高校科学研究重点项目(2022AH050977)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.03.0099
Publish at: Application Research of Computers Accepted Paper, Vol. 41, 2024 No. 11

Publish History

[2024-08-05] Accepted Paper

Cite This Article

任祥瑞, 王正刚, 汤俊杨. 改进JPS算法融合DWA的多机器人路径规划 [J]. 计算机应用研究, 2024, 41 (11). (2024-09-11). https://doi.org/10.19734/j.issn.1001-3695.2024.03.0099. (Ren Xiangrui, Wang Zhenggang, Tang Junyang. Improved jps algorithm fused with dwa for multi robot path planning [J]. Application Research of Computers, 2024, 41 (11). (2024-09-11). https://doi.org/10.19734/j.issn.1001-3695.2024.03.0099. )

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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