基于可搜索24邻域的A~*算法路径规划  

Path planning for A~* algorithm based on searching 24 neighborhoods

作　　者：崔宝侠[1] 王淼弛 段勇[1] CUI Bao-xia;WANG Miao-chi;DUAN Yong(School of Information Science and Engineering,Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学信息科学与工程学院,沈阳110870

出　　处：《沈阳工业大学学报》2018年第2期180-184,共5页Journal of Shenyang University of Technology

基　　金：国家自然科学基金资助项目(60695054);辽宁省高等学校优秀科技人才支持计划项目(LR2015045)

摘　　要：针对A~*算法在移动机器人路径规划时求解得到的路径长度不是最优并且转折点较多的问题,提出了可搜索24邻域的A~*算法路径规划.该方法在传统A~*算法的基础上进一步改进其启发搜索策略,将传统A~*算法的可搜索邻域个数从离散的8个扩展到24个,进而增加更多的搜索方向.结果表明,改进的A~*算法实现了路径长度更短的目的,同时降低了转折点数,且移动机器人的运行路径也更加平滑.本文方法具有较强的实际意义和应用背景,通过实际运行过程验证了其设计方法具有一定的有效性.In order to solve the problem that the path length is not the best and the turning point is many when the traditional A*algorithm is used in the path planning of mobile robot,a path planning for A*algorithm based on searching 24 neighborhoods was proposed.The heuristic search strategy was further improved on the basis of the traditional A*algorithm,the number of searching neighborhood in the traditional A*algorithm was extended from 8 discrete points to 24 points,and then more searching directions could be increased.The results show that the improved A*algorithm can realize the purpose of shorter path length,and can reduce the number of turning points simultaneously.The operating path of mobile robot also becomes smoother.The proposed method has stronger practical significance and application background,and the effectiveness of the design method is verified through the actually operating process.

关 键 词：机器人 路径规划 栅格法 平滑性 8邻域 最优路径 启发式搜索 24邻域 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]