改进A^*的4阶贝塞尔曲线路径规划  

Improved Path Planning of A^* Quartic Bezier Curve

作　　者：余星宝 杨慧斌 周玉凤 闫健 YU Xingbao;YANG Huibin;ZHOU Yufeng;YAN Jian(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China;Lanzhou Meteorological Bureau of Gansu Province,,Lanzhou 730000,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620 [2]甘肃省兰州市气象局,甘肃兰州730000

出　　处：《轻工机械》2020年第6期64-67,共4页Light Industry Machinery

摘　　要：自动引导车(AGV)路径规划时,传统的A^*算法存在应对障碍物时生成路径平滑度低、累计折角多、易碰撞等问题,课题组提出一种利用Bezier曲线与A^*算法相结合的路径优化算法。首先利用A^*算法在有障碍物的栅格地图上规划出最短路径,找出路径转弯处的特征点;然后利用4阶Bezier曲线在2个特征点生成一条满足安全避障距离、具有一定曲率、路径相对更短的Bezier曲线;最后结合A^*算法生成的直线和Bezier曲线得到一条新的无碰撞曲线。试验结果表明在2种不同的障碍物密度下,课题组提出的新算法比传统A^*算法路径长度平均减少5.5%、转弯角度平均减少65.4%、碰撞次数平均减少100%。新算法法使AGV路径规划可减少路径长度和转弯角度,提高了AGV的工作效率和安全性能。Aiming at the problems in the path planning of AGV of the traditional A^* algorithm,such as low smoothness of the generated path,multiple accumulated angles,and easy collision when dealing with obstacles,a path optimization algorithm combining Bezier curve and A^* algorithm was proposed.First,the A^* algorithm was used to plan the shortest path on the grid map with obstacles and find out the characteristic points at the turn of the path;then the quadruple Bezier curve was used to generate a Bezier curve with safe obstacle avoidance distance,certain curvature and relatively shorter path at the two characteristic points;finally,a new collision-free curve was obtained by combining the straight line generated by the A^* algorithm and the Bezier curve.Experimental results show that under different obstacle densities,the proposed algorithm reduces the path length by 5.5%on average,the turning angle by 65.4%on average,and the number of collisions by 100%on average compared with the traditional A^* algorithm.The proposed method can reduce the path length for AGV path planning and turning angle,and improve the work efficiency and safety performance of AGV.

关 键 词：自动引导车(AGV) 路径规划 A^*算法 BEZIER曲线 

分 类 号：TH165.2[机械工程—机械制造及自动化]