基于改进A~*算法的移动机器人安全路径规划  

Safe Path Planning of Mobile Robot Based on Improved A~* Algorithm

作　　者：张红梅[1] 李明龙[1] 杨乐 ZHANG Hong- mei;LI Ming- long;YANG Le(School of Power and Mechanical Engineering, Wuhan University, Wuhan Hubei 430072, Chin)

机构地区：[1]武汉大学动力与机械工程学院,湖北武汉430072

出　　处：《计算机仿真》2018年第4期319-324,共6页Computer Simulation

基　　金：国家863计划项目(2009AA12Z311);国家自然科学基金(41376109)

摘　　要：论文针对传统A~*算法规划所得路径在安全性与平滑性方面的不足进行了改进。首先,根据节点与障碍物的最小距离定义该节点存在的安全威胁代价,并将其引入A~*算法的估价函数,以提高规划路径的安全性。其次,对规划路径进行平滑优化处理,并在平滑操作过程中引入路径评价机制以保证所得平滑路径的代价值不会增大。仿真结果表明,改进后的A~*算法规划所得路径的长度更小,而其安全性和平滑程度都有大幅提高,因而更加符合移动机器人的实际运行需求。In order to improve the security and smoothness of the path planned by using traditional A ＊ algo- rithm, an improved A ＊ algorithm is proposed. First, the safety threat cost of a node was calculated according to the minimum distance between the node and obstacles, and then it was taken into the evaluation function to improve the safety of the planned path. Second, the planned path was smoothed, and a path evaluation mechanism was adopted in the smoothing process to ensure the optimality of the smooth path. The simulation results show that the improved A ＊ algorithm greatly improves the safety and smoothness of the planned path, and reduces the path length, which can better satisfy the actual needs of the robot.

关 键 词：算法 移动机器人 路径规划 估价函数 平滑处理 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]