Improved Bidirectional JPS Algorithm for Mobile Robot Path Planning in Complex Environments  

作　　者：Zhaohui An Changyong Li Yong Han Mengru Niu 

机构地区：[1]School of Mechanical Engineering,Xinjiang University,Urumqi,830017,China

出　　处：《Computers, Materials & Continua》2025年第4期1347-1366,共20页计算机、材料和连续体(英文)

基　　金：supported by the Xinjiang Uygur Autonomous Region Central Guided Local Science and Technology Development Fund Project(No.ZYYD2025QY17).

摘　　要：This paper introduces an Improved Bidirectional Jump Point Search(I-BJPS)algorithm to address the challenges of the traditional Jump Point Search(JPS)in mobile robot path planning.These challenges include excessive node expansions,frequent path inflexion points,slower search times,and a high number of jump points in complex environments with large areas and dense obstacles.Firstly,we improve the heuristic functions in both forward and reverse directions to minimize expansion nodes and search time.We also introduce a node optimization strategy to reduce non-essential nodes so that the path length is optimized.Secondly,we employ a second-order Bezier Curve to smooth turning points,making generated paths more suitable for mobile robot motion requirements.Then,we integrate the Dynamic Window Approach(DWA)to improve path planning safety.Finally,the simulation results demonstrate that the I-BJPS algorithm significantly outperforms both the original unidirectional JPS algorithm and the bidirectional JPS algorithm in terms of search time,the number of path inflexion points,and overall path length,the advantages of the I-BJPS algorithm are particularly pronounced in complex environments.Experimental results from real-world scenarios indicate that the proposed algorithm can efficiently and rapidly generate an optimal path that is safe,collision-free,and well-suited to the robot’s locomotion requirements.

关 键 词：Bidirectional jump search heuristic function bezier curve dynamic window method path planning 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]