改进型A*算法在智能AGV路径规划中的应用  

Application of Improved A* Algorithm in Intelligent AGV Path Planning

作　　者：黄诚杰[1] 吴锤红[1] 

机构地区：[1]福建农林大学机电工程学院,福建福州350002

出　　处：《莆田学院学报》2015年第5期36-39,共4页Journal of putian University

摘　　要：针对智能AGV路径规划,提出一种改进型A*算法。通过环境模型的建立,把智能AGV运行环境地图进行栅格化和膨胀化处理。分析了传统A*方法存在的弊端,并结合智能AGV行驶路径的特点,提出一种基于动态环境、奖惩机制和转弯半径的改进型A*算法,使改进后A*算法规划出的最优路径更加符合智能AGV运行要求。An improved A＊ algorithm was proposed for intelligent AGV path planning. Through the establishment of the environment model, environmental map was processed by grid and expansion. The paper gave a detailed analysis of the insufficiency of traditional A＊ method. It combined the characteristics of the intelligent AGV moving path, based on dynamic environment, rewards and punishment mechanism and the turning radius of the improved A＊ algorithm, it improved A＊ algorithm to be more in line with the requirement of intelligent AGV.

关 键 词：A＊算法 路径规划 智能AGV 算法改进 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]