改进A*算法在ASR移动机器人路径规划中的应用
Application of Improved A* Algorithm in Path Planning of ASR Mobile Robots
谢小宝1
作者信息
摘要
针对传统A*算法在ASR移动机器人路径规划中无用节点多、耗时长的问题,提出了基于自适应场景地图改进A*算法,引入转弯惩罚函数策略、扩展方向与优先级搜索、路径平滑策略等,以规避路径的多余转弯问题.经仿真试验,证实改进A*算法能够减少搜索节点次数及缩短路径长度,提高ASR移动机器人的运行效率,实现最优路径.
Abstract
Aiming at the problem that the traditional A* algorithm has many useless nodes and takes a long time in the path planning of ASR mobile robot,this paper proposes an improved A* algorithm based on adaptive scene map,and introduces the turning penalty function strategy,extended direction and priority search strategy,path smoothing strategy,etc.,to avoid the problem of redundant turns in the path.The simulation results show that the improved A* algorithm can reduce the number of search nodes and shorten the path length,improve the operation efficiency of ASR mobile robot,and achieve the optimal path.
关键词
ASR移动机器人/改进A*算法/路径规划Key words
ASR mobile robot/improved A*algorithm/path planning引用本文复制引用
出版年
2024
NETL
NSTL
万方数据