Path planning based on sliding window and variant A* algorithm for quadruped robot  

作　　者：张慧 Rong Xuewen Li Yibin Li Bin Zhang Junwen Zhang Qin 

机构地区：[1]School of Control Science and Engineering,Shandong University [2]School of Electrical Engineering,Jinan University

出　　处：《High Technology Letters》2016年第3期334-342,共9页高技术通讯（英文版）

基　　金：Supported by the National Natural Science Foundation of China(No.61233014,61305130,61503153);the National High Technology Research and Development Program of China(No.2015AA042201);the Shandong Provincial Natural Science Foundation(No.ZR2013FQ003,ZR2013EEM027);China Postdoctoral Science Foundation(No.2013M541912)

摘　　要：In order to improve the adaptability of the quadruped robot in complex environments,a path planning method based on sliding window and variant A* algorithm for quadruped robot is presented. To improve the path planning efficiency and robot security,an incremental A* search algorithm( IA*) and the A* algorithm having obstacle grids extending( EA*) are proposed respectively. The IA* algorithm firstly searches an optimal path based on A* algorithm,then a new route from the current path to the new goal projection is added to generate a suboptimum route incrementally. In comparison with traditional method solving path planning problem from scratch,the IA* enables the robot to plan path more efficiently. EA* extends the obstacle by means of increasing grid g-value,which makes the route far away from the obstacle and avoids blocking the narrow passage. To navigate the robot running smoothly,a quadratic B-spline interpolation is applied to smooth the path.Simulation results illustrate that the IA* algorithm can increase the re-planning efficiency more than 5 times and demonstrate the effectiveness of the EA* algorithm.In order to improve the adaptability of the quadruped robot in complex environments, a path planning method based on sliding window and variant A ＊ algorithm for quadruped robot is presen- ted. To improve the path planning efficiency and robot security, an incremental A＊ search algorithm （ IA ＊ ） and the A＊ algorithm having obstacle grids extending （ EA ＊ ） are proposed respectively. The IA ＊ algorithm firstly searches an optimal path based on A＊ algorithm, then a new route from the current path to the new goal projection is added to generate a suboptimum route incrementally. In comparison with traditional method solving path planning problem from scratch, the IA ＊ enables the robot to plan path more efficiently. EA＊ extends the obstacle by means of increasing grid g-value, which makes the route far away from the obstacle and avoids blocking the narrow passage. To navi- gate the robot running smoothly, a quadratic B-spline interpolation is applied to smooth the path. Simulation results illustrate that the IA ＊ algorithm can increase the re-planning efficiency more than 5 times and demonstrate the effectiveness of the EA＊ algorithm.

关 键 词：QUADRUPED robot path planning SLIDING WINDOW A* ALGORITHM 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]