基于交通约束及多元启发函数的改进A^*算法  

Improved A^* Algorithm Based on Traffic Constrains and Multiple Heuristic Function

作　　者：张金越 侯至丞 张弓 王卫军 杨文林 ZHANG Jin-yue;HOU Zhi-cheng;ZHANG Gong;WANG Wei-jun;YANG Wen-lin(Intelligent Robot&Equipment Center,Guangzhou Institute of Advanced Technology Chinese Academy of Sciences,Guangzhou 511458,China)

机构地区：[1]广州中国科学院先进技术研究所机器人与智能装备中心,广州511458

出　　处：《组合机床与自动化加工技术》2021年第1期53-56,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家重点研发计划项目子课题(2018YFA0902901);广东省自然科学基金(2018A030310046);中国博士后科学基金面上资助(2019M662848)。

摘　　要：针对多移动机器人的环境下容易出现碰撞的情况以及传统A^*算法规划的路径容易出现拐角数多的问题,基于栅格建模的方法,提出了交通约束法,并且在A^*算法原有启发函数的基础上,添加拐角数的评判指标,构成多元启发函数。在MATLAB仿真平台上对基于交通约束及多元启发函数A^*算法进行仿真实验,结果证明在多AGV系统下,基于交通约束及多元启发函数的A^*算法在规划出合理路径的前提下,减少了拐角数,降低了碰撞几率,提高了移动机器人完成路径的效率,具有较强的稳定性。Under multiple AGVs for prone to collision and traditional A^* algorithm planning path more prone to corner problem,this paper based on the method of grid,the method of traffic constraints was put forward and adds the evaluation index of the number of corners form the multivariate heuristic function on the basis of the original cost function of the A^* algorithm.Finally,A^* algorithm based on traffic constraints and multiple heuristic function was simulated on the MATLAB simulation platform,and the results show that under the multiple AGVs system,based on traffic constraints and multiple heuristic function of A^* algorithm reasonable planning the path could map out reasonable paths,reduce the number of corners and the collision probability,improve the efficiency of the complete path for mobile robot,has strong stability.

关 键 词：路径规划 交通约束 A^*算法 拐角数 移动机器人 

分 类 号：TH166[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]