Path Planning with Voronoi Region Segmentation and Path Optimization.

In some large buildings, the efficiency of path planning algorithms for mobile robots still faces great challenges. To deal with this problem, a path planning algorithm combining Voronoi region segmentation and path optimization (VSO) is proposed to achieve fast path planning in large-scale indoor scenario. The algorithm uses the generalized Voronoi graph (GVG) to construct the topological map from the environmental map, and then the initial heuristic path can be obtained quickly on the topological map. By sampling in the area around the initial path, the over-exploration of the workspace can be reduced. What's more, the algorithm selects waypoints to divide the sampling area into multiple sub-regions, and search paths in the sub-regions in parallel to further reduce the search space and improve the search efficiency. Finally, the path obtained from each sub-region is connected as the solution of the overall problem, and the optimization algorithm is used to smooth the final path. Simulation and robot experiments are conducted to verify the practicability and effectiveness of the proposed algorithm. [ABSTRACT FROM AUTHOR]