Atr loitmBaeo Deluy Trangulation and Its Improvement

Path planning is an important part of robotics research. A<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm and RRT algorithm are very common algorithms in path planning. Each of these algorithms has its own advantages, but there is still room for improvement in planning time, path cost, and adaptability to different environment. In this paper, we propose a map processing method based on Delaunay triangulation, while applying the strategy of obstacle expansion and compensated sampling, and the A<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm is used on this basis. Finally, we have improved the path given by the A<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm with straight-first strategy. Simulations show that the A<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">*</sup> algorithm based on Delaunay triangulation can plan paths efficiently in different environments.