Improved Bidirectional Dynamic JPS Algorithm for Global Path Planning of Mobile Robot

This paper proposed to improve the bidirectional dynamic JPS algorithm in order to address the issues with the jump point search algorithm in the process of pathfinding, such as numerous path inflection points, numerous intermediate search hop points, numerous extended nodes, and lengthy pathfinding time in the process of finding jump points. The algorithm was based on the two-way dynamic hopping point search algorithm, defined the target points in the forward and reverse expansion directions dynamically, defined the heuristic function dynamically. In the process of searching each other from the starting point and the target point, the dynamic constraint ellipse was constructed to limit the expansion area of the jump point. The simulation results show that the optimized bidirectional dynamic JPS algorithm has a certain performance in general maps, especially in indoor environment maps with fewer obstacles and the target point is close to the starting point.