基于改进A*算法的机器人路径规划
Robot Path Planning Based on Improved A* Algorithm
滕超凡 1王路平2
作者信息
- 1. 沈阳航空航天大学航空宇航学院,辽宁 沈阳 110136
- 2. 沈阳航空航天大学工程训练中心,辽宁 沈阳 110136
- 折叠
摘要
为保证移动机器人能够跟随预定路径安全行进且满足机器人动力学约束,针对A*算法路径折点多、轨迹不连续的问题,提出了一种改进A*算法.首先,该方法通过动态权重分配和节点位置重置策略,提高了传统A*算法的效率和质量;然后,引入剪枝算法进一步简化路径,减少冗余转折点;最后,通过B样条对轨迹进行平滑处理,并结合模型预测控制确保轨迹的精确跟踪和系统稳定性.结果显示,改进后算法路径长度平均减少11%,且得到的路径平滑连续.改进后的算法可以为机器人提供一条安全可行的平滑路径.
Abstract
To ensure that the mobile robot can safely follow the predetermined path and meet the dynamic constraints of the robot,an improved A* algorithm is proposed to address the problems of multiple path inflection points and discontinuous trajectories in the A* algorithm.Firstly,this method improves the efficiency and quality of traditional A* algorithms through dynamic weight allocation and node position reset strategies.Then,the pruning algorithm is introduced to further simplify the path and reduce redundant turning points.Finally,the trajectory is smoothed using B-splines and combined with model predictive control to ensure accurate tracking and system stability.The results showed that the improved algorithm reduced the average path length by 11%,and the resulting path was smooth and continuous.The improved algorithm can provide a safe and feasible smooth path for robots.
关键词
路径规划/A*算法/B样条/模型预测控制/移动机器人Key words
path planning/A* algorithm/B spline/MPC/mobile robot引用本文复制引用
基金项目
大学生创新创业训练计划项目(202310143002)
出版年
2024
NETL
NSTL
万方数据