基于方向和步长约束的安全A*算法  

Safe A*Algorithm Based on Direction and Step Length Constraints

作　　者：陈娇 向建平 刘卿 Chen Jiao;Xiang Jianping;Liu Qing(School of Transportation&Logistics,Southwest Jiaotong University,Chengdu 611756,China)

机构地区：[1]西南交通大学交通运输与物流学院,四川成都611756

出　　处：《物流技术》2020年第11期88-94,共7页Logistics Technology

摘　　要：为解决传统A*算法规划的路径安全性低、平滑度低等问题,对传统的A*算法的搜索方向和安全性进行改进。首先将A*算法的搜索方向增加到16个,并配合对应的搜索方向提出机器人单次移动步长,提高规划的灵活性。然后对算法规划的路径进行安全性改进,防止移动机器人与环境中物品发生碰撞。最后与传统A*算法和其他文献中的算法进行仿真对比,验证了改进A*算法实现了路径长度、安全性以及平滑性的优化。In order to solve the problems of low security and low smoothness of the traditional A*algorithm,we attempted to improve the search direction and security of the traditional A*algorithm.First,we increased the search direction of the A*algorithm up to 16,and added in the robot single movement step length to the corresponding search direction to improve the flexibility of planning.Then we modified the safety of the path planned by the algorithm to prevent the mobile robot from colliding with objects in the environment.Finally,we compared the improved algorithm with the traditional A*algorithm and the algorithms in other articles to verify that it could achieve the optimization of path length,safety and smoothness.

关 键 词：A*算法 搜索方向 安全性 移动机器人 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]