A Path Planning Algorithm for Unmanned Overhead Cranes Integrating Improved A* and D* Lite with Kinematic Optimization

Wubo Zhang

doi:10.54097/0ews8r57

Authors

Wubo Zhang

DOI:

https://doi.org/10.54097/0ews8r57

Keywords:

Path Planning, A* Algorithm, D* Lite Algorithm, Quintic Polynomial, Kinematic Constraints

Abstract

Aiming at the problems of excessive redundant nodes, unsmooth paths, and poor adaptability to dynamic environments in the path planning of unmanned cranes in coil warehouses, this paper proposes a hybrid path planning algorithm (AD* Lite) integrating improved A* and D* Lite, along with a quintic polynomial kinematic optimization method. Firstly, a collision detection mechanism is designed to prevent paths from passing through obstacle vertices, and a redundant node deletion strategy is introduced to enhance path smoothness. Secondly, a multi-scenario adaptive hybrid algorithm is constructed by combining the static planning advantages of the A* algorithm and the dynamic re-planning capability of the D* Lite algorithm. Furthermore, quintic polynomials are used to optimize the path, integrating kinematic constraints such as speed, acceleration, and turning radius. Experiments show that under the satisfaction of kinematic constraints, the improved fusion algorithm improves various indicators such as path length, search time, number of turns, and number of searched grids by approximately 40%.

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