Lambda*路径规划算法  

Lambda* Path Planning Algorithm

作　　者：黎萍[1] 朱军燕 彭芳[1] 

机构地区：[1]电子科技大学中山学院,广东中山528402 [2]中山出入境检验检疫局技术中心,广东中山528403

出　　处：《控制工程》2014年第4期567-571,578,共6页Control Engineering of China

基　　金：国家科技型中小企业技术创新项目(12C26214405188);广东省教育厅产学研项目(2011B090400371);电子科技大学中山学院博士启动基金项目(410YKQ01)

摘　　要：分析A*算法耗时多的基础上,针对性地提出Lambda*算法,通过减少open表中保持的节点数,减少计算量,算法能在较少的时间里得到较优的路径。相对于A*算法,采用Lambda*进行路径规划,在2D环境下时耗减少了48.76%,在3D环境下时耗减少了30.11%。即使在复杂的3D环境中,Lambda*算法也能较快地获取较优的路径规划方案,更能适应现代工业机器人的快速路径规划的需求。The reason for time-consuming of A ＊ algorithm is analysised, and a path planning algorithm named Lambda ＊ is proposed specifically. Lambda ＊ algorithm＇s computation complexity is reduced by cutting down the number of vertices contained in list, and this makes Lambda ＊ algorithm find the short and realistic path fast. Using Lambda ＊ for path planning, as compared with A ＊ algorithm, the running time is decreased by 48.76 % in 2D environment, and 30. 11% in 3D environment. Lambda ＊ algorithm can find the short and realistic looking path faster even in complex 3D environment, and it meets the demand of quickness for modem industrial robot path planning better.

关 键 词：路径规划 可视图 A＊算法 Lambda＊算法 优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]