室内移动机器人路径规划研究  

Research on Path Planning of Indoor Mobile Robots

作　　者：杨兴[1,2] 张亚[1] 杨巍[2] 张慧娟[2] 常皓[2] 

机构地区：[1]中北大学机电工程学院,太原03005 [2]中国科学院宁波工业技术研究院浙江省机器人与智能制造装备技术重点实验室,宁波315201

出　　处：《科学技术与工程》2016年第15期234-238,244,共6页Science Technology and Engineering

基　　金：宁波市自然科学基金项目(2015A610139)资助

摘　　要：路径规划是自主移动机器人的研究重点。针对传统的A*算法搜索出的路径存在途径危险区域,未考虑机器人外形尺寸、路径不平滑等问题,提出了一种改进A*算法的路径规划方法。在新的栅格化环境地图中,通过改进的搜索策略进行路径搜索;并对路径点删减和优化,通过分段多项式曲线平滑路径。实验仿真结果表明,新方法生成的路径满足移动机器人的动力学和运动学特性,且更符合室内移动机器人的轨迹跟踪和运动控制,该方法简单有效。Path planning is a fundamental issue to autonomous mobile robot. An improved A＊algorithm for path planning for indoor mobile robot is proposed in this paper. In the process of searching the path,there are some problems for the traditional A＊algorithm,such as that the path goes through the dangerous area,the overall dimensions of mobile robot is not taken into consideration,or the searching path is not so smooth. A new solution for the problems is proposed. This method searches path in new grid environments using improved strategy,then it reduces path points and optimizes them. At last,it uses piecewise polynomial curve smoothing paths. Therefore,the generated path is satisfied with the dynamics and kinematics characteristics of the mobile robot,and is more suitable for trajectory tracking and motion control for indoor mobile robot. The experimental results show that this method has good feasibility and effectiveness.

关 键 词：路径规划 栅格地图 A＊算法 路径平滑 分段多项式曲线 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]