融合可见光指纹的迷宫机器人路径规划算法  

A Path Planning Algorithm for a Maze Robot Incorporating Visible Light Fingerprints

作　　者：张月霞[1] 刘冲 ZHANG Yuexia;LIU Chong(School of Information and Communication Engineering,Beijing Information Science&Technology University,Beijing 100101,China)

机构地区：[1]北京信息科技大学通信工程学院,北京100101

出　　处：《电讯技术》2020年第9期1096-1101,共6页Telecommunication Engineering

基　　金：国家自然科学基金资助项目(51334003)。

摘　　要：针对复杂迷宫环境下移动机器人路径规划中存在的寻路时间较长、效率较低等问题,提出了一种将可见光指纹信息与A*算法相融合的迷宫机器人路径规划算法。该算法引入局部、全局障碍密度参量对A*算法的评价函数进行优化,使评价函数可以自适应障碍物密度;同时引入可见光指纹信息,利用障碍物对可见光光源的遮挡程度来判断各方向路径是否通畅,解决了A*算法在寻路进程中无法预见后续障碍物的问题。仿真结果表明,基于可见光指纹的改进A*算法能够有效减少传统A*算法的路径搜索点数量,平均寻路效率提高了43.5%,具有一定的应用价值。For the problems of long path-finding time and low efficiency in the path planning of mobile robots in complex maze environment,a path planning algorithm for maze robots is proposed which combines visible fingerprint information with A*algorithm.The algorithm introduces local and global obstacle density parameters to optimize the evaluation function of the A*algorithm,so that the evaluation function can adapt to the obstacle density.At the same time,visible light fingerprint information is introduced,and the degree of obstruction of the visible light source by the obstacle is used to determine whether the path in each direction is unobstructed,thus solving the problem that the A*algorithm cannot predict subsequent obstacles in the path finding process.Simulation results show that the improved A*algorithm based on visible fingerprint can effectively reduce the number of path search points of the traditional A*algorithm,and the average pathfinding efficiency is increased by 43.5%,which has certain application value.

关 键 词：迷宫机器人 路径规划 可见光指纹 A*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] TN929.1[自动化与计算机技术—控制科学与工程]