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基于改进A*的移动机器人路径规划算法
Alternative TitleMobile Robot Path Planning Algorithm Based on Improved A*
石征锦1; 宿一凡1,2; 卜春光2; 范晓亮2
Department机器人学研究室
Source Publication单片机与嵌入式系统应用
ISSN1009-623X
2020
Volume20Issue:6Pages:13-15
Contribution Rank2
Funding Organization国家重点研发计划“战略性国际科技创新合作”重点专项(2016YFE0206200)
Keyword移动机器人 全局路径规划 A*算法
Abstract

移动机器人全局路径规划旨在为移动机器人导航提供一条安全、平滑的运动路径。传统A*算法规划的路径转弯多、不平滑,且对于U型地形存在过于贴合障碍物的问题。针对A*算法的缺点,在启发函数中加入余弦相似性和方向信息,并做归一化处理。选取36阶邻域搜索矩阵,解决贴合U型弯的问题。此外,提出了基于贝塞尔曲线的后处理方法,使规划的路径曲率连续变化。通过仿真实验验证了改进算法的有效性。

Other Abstract

The global path planning of mobile robot aims to provide a safe and smooth path for mobile robot navigation. The traditional A*algorithm is planning the path of more turns, and not smooth. Moreover, for the u-shaped terrain, the path is too close to obstacles. Aiming at the shortcomings of A*algorithm, cosine distance is selected as the heuristic function, and direction information is added and normalized. The 36-order neighborhood search matrix is selected to solve the problem of fitting u-bend. In addition, apost-processing method based on Bessel curve is proposed ,that makes the planned path curvature changing continuously. The simulation results show the effectiveness of the improved algorithm.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27186
Collection机器人学研究室
Corresponding Author石征锦
Affiliation1.沈阳理工大学自动化与电气工程学院
2.中国科学院沈阳自动化研究所机器人学国家重点实验室
Recommended Citation
GB/T 7714
石征锦,宿一凡,卜春光,等. 基于改进A*的移动机器人路径规划算法[J]. 单片机与嵌入式系统应用,2020,20(6):13-15.
APA 石征锦,宿一凡,卜春光,&范晓亮.(2020).基于改进A*的移动机器人路径规划算法.单片机与嵌入式系统应用,20(6),13-15.
MLA 石征锦,et al."基于改进A*的移动机器人路径规划算法".单片机与嵌入式系统应用 20.6(2020):13-15.
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