基于改进A*算法和再优化的避障路径规划
Obstacle avoidance path planning based on improved A*algorithm and re-optimization
高九州 1刘育航1
作者信息
摘要
考虑机器人行走过程中自身尺寸与体积因素的影响,给出了防刮碰障碍物的节点扩展方法.将传统的从起点到终点的单向搜索方式变成起点到终点和终点到起点的同步双向搜索方式,并将搜索进程中的"终点"设置为对向同步搜索的当前点,将当前点和当前终点的距离引入评价函数,明显减少了往复搜索的次数和搜索的节点数目,提高了搜索效率.在双向搜索A*改进算法得出的搜索路径基础上,进行路径优化,先后进行路径冗余点的去除和拐点路径的圆弧过渡.仿真结果表明,基于上述方法得到的避障路径搜索面积小,搜索节点少,搜索效率高,路径平滑稳定,易于机器人完成避障路径行走.
Abstract
A node expansion method for preventing scratching and collision with obstacles is provided,considering the influence of the robot's own size and volume during its walking process.The traditional A* search method from the start point to the end point is changed to a simultaneous bidirectional search method from the start point to the end point and from the end point to the start point.The"end point"in the search process is set as the current point of the synchronous search in both forward and reverse directions,and the distance between the current point and the current end point is introduced into the evaluation function,significantly reducing the number of reciprocal searches and the number of search nodes,and improving the search efficiency.Based on the path obtained by the improved bidirectional A* search algorithm,path optimization is carried out,including the removal of redundant points on the path and the arc transition of the inflection point path successively.The simulation results show that the obstacle avoidance path obtained based on the above method has fewer search nodes,high search efficiency,smooth and stable path,and is easy for the robot to complete the obstacle avoidance path walking.
关键词
防刮碰/双向搜索/评价函数/冗余点去除/圆弧过渡Key words
preventing scratching and collision/bidirectional search method/evaluation function/redundancy point removal/arc transition引用本文复制引用
出版年
2024
NETL
NSTL
万方数据