A Star算法在RoboCup救援仿真中路径规划的应用  

Path Planning Strategy Based on A Star Algorithm in RoboCup Rescue Simulation

作　　者：钱程 许映秋[1] 谈英姿[2] QIAN Cheng XU Ying-Qiu TAN Ying-Zi(School of Mechanical Engineering, Southeast University, Nanjing Jiangsu 211189, China School of Automation, Southeast University, Nanjing Jiangsu 210096, China)

机构地区：[1]东南大学机械工程学院,江苏南京211189 [2]东南大学自动化学院,江苏南京210096

出　　处：《指挥与控制学报》2017年第3期260-264,共5页Journal of Command and Control

摘　　要：近年来,智能机器人救援一直是社会的研究热点,而机器人的路径规划是提高智能机器人救援效率的关键.对于智能机器人而言,应基于环境模型进行路径规划.A Star算法是最实用且应用最广泛的路径规划算法.通过RoboCup救援仿真平台提供的模拟智能机器人救援情况的环境模型,研究并探讨A Star算法在机器人救援仿真中路径规划的应用,建立该算法的应用模型,并通过仿真结果验证该模型的有效性.In recent years, intelligent robot rescue has been the focus of social research, and the path planning of robot is the key to improve the efficiency of intelligent robot rescue. For intelligent robot, path planning is based on the existing environment model. At present A Star algorithm is the most practical and widely used path searching algorithm. Under the simulated circumstances provided by RoboCup rescue simulation platform, the application of A Star algorithm in the path planning of rescue robot is analyzed and discussed and the effectiveness of the algorithm is verified through simulation results.

关 键 词：机器人救援仿真 路径规划 ROBOCUP A Star算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]