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改进A?算法在喷浆机器人路径规划中的研究

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针对经典A∗算法在路径规划中存在搜索节点多、安全性低、路径转折角度大等问题,提出一种改进的A∗算法.通过优化评价函数,减少搜索的时间、提高搜索效率;改变子节点的选择方式,避免喷浆机器人穿过障碍物的顶点、与障碍物之间的距离过近,提高其工作的安全性;通过贝塞尔曲线对路径进行平滑优化,降低了转折角度.在不同尺寸的栅格地图上进行多次仿真实验,仿真结果表明所提算法有效减少搜索时间,增加规划路径的安全性,降低转折角度,路径更加平滑,获得较优路径.
Research on Improved A? Algorithm in Path Planning of Spraying Robot
Aiming at the problems of the traditional A∗ algorithm in path planning,such as many search nodes,low security and large path turning angle,an improved A∗algorithm is proposed.By optimizing the e-valuation function,the search time is reduced and the search efficiency is improved.Change the selection meth-od of sub-nodes to avoid the spraying robot from passing through the apex of the obstacle and the distance be-tween it and the obstacle is too close,so as to improve the safety of its work;the path is smoothed and optimized by the Bezier curve,reducing the angle of turning.The simulation results show that the proposed algorithm effec-tively reduces the search time and the turning angle,increases the safety of the planned path,makes the path smoother,and obtains a better path.

path planningimproved A∗ algorithmspraying robotevaluation function

苏畅、袁泉、李子强、余晓帆

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安徽理工大学 机械工程学院,安徽 淮南 232001

路径规划 改进A∗算法 喷浆机器人 评价函数

2024

黑龙江工业学院学报(综合版)
鸡西大学

黑龙江工业学院学报(综合版)

影响因子:0.211
ISSN:1672-6758
年,卷(期):2024.24(1)
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