基于改进A＊算法的室内移动机器人路径规划  

Indoor mobile-robot path planning based on an improved A ＊ algorithm

作　　者：王殿君[1] 

机构地区：[1]北京石油化工学院机械工程学院,北京102617

出　　处：《清华大学学报（自然科学版）》2012年第8期1085-1089,共5页Journal of Tsinghua University(Science and Technology)

基　　金：国家"八六三"高技术项目(2007AA04Z255);北京市属高等学校人才强教深化计划资助项目(PHR201008355)

摘　　要：针对移动机器人在室内定位的特点,在结构化环境下,开发了机器人路径规划系统。在阐述了全局地图构建方法基础上,根据移动机器人的实际运行环境采用栅格法构建了环境地图。利用A*算法进行初步路径规划,其不足之处是路径规划数据中包含了所有规划点的坐标,冗余点较多,且移动机器人无法在拐点处调整自身姿态。针对这些不足,提出了能够计算出拐点、旋转方向及旋转最小角度的A*路径规划改进算法并进行了实验。移动机器人定位实验结果表明:利用改进后的A*路径规划算法不仅简化了路径,而且在拐点处移动机器人能够调整自身姿态,可以较好地满足室内移动机器人全自主运动的要求。An indoor mobile robot path planning system was developed under the structured environment in consideration of the characteristics of mobile-robot technology on indoor localization. Based on the global map building methods, the environment map was built in the robot＇s actual environment using the grid method. The path preliminarily planned by A＊ algorithm contained all planning point coordinates, which caused more redundant points with the robot not being able to adjust its posture at the inflection point. An improved A＊ algorithm, which can calculate the inflection point, rotation direction and the minimum rotation angles, was then proposed against the shortage of the path planning. Mobile-robot positioning tests show that the improved algorithm not only simplifies the path, but also adjusts the robot＇s posture at the inflection point, which can meet the requirements of robot autonomous movement,

关 键 词：移动机器人 路径规划 定位系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]