E-commerce based on robot of delivery.

Abstract

Safe and efficient navigation is among the key challenges for sidewalk delivery robots operating in urban environments. This paper proposes a hybrid pathplanning approach using the global planning capability of the A* algorithm combined with local obstacle avoidance using the Artificial Potential Field (APF) method. Performance tests were carried out in simulated urban scenarios with a wide range of algorithms. The two most promising ones were A* and APF. A* brought computation time down to 1.2 seconds, only 8% of the total simulation time for the computation of a 12.4 km path. It outperforms Dijkstra, Greedy, BFO, PSO, ACO, and GWO in both path efficiency and cost. APF managed to avoid obstacles in 5.2 seconds for a 30-minute simulation video, while other approaches required between 40 and 100 seconds.