基于改进双向探索A*算法的医疗巡检机器人路径规划研究  

Research on path planning of medical inspection robot based on improved bidirectional exploration A*algorithm

作　　者：赵靖华[1] 王建森[1] 鲁铮 孙宏宇 ZHAO Jing-hua;WANG Jian-sen;LU Zheng;SUN Hong-yu(College of Computer,Jilin Normal University,Siping 136000,China)

机构地区：[1]吉林师范大学计算机学院,吉林四平136000

出　　处：《吉林师范大学学报（自然科学版）》2022年第1期121-127,共7页Journal of Jilin Normal University:Natural Science Edition

基　　金：国家自然科学基金项目(61773009);吉林师范大学研究生创新项目(202023)。

摘　　要：针对传统导航机器人在复杂大型地图中路径搜索时间长、效率低等问题,提出了一种基于医院复杂环境下的导航策略.对移动机器人在路径规划过程中遇到障碍物、接到临时任务指令以及在同一楼层中两个行驶机器人相遇3种情况,分别讨论了较为合理的路径规划方案.在医院复杂场景模拟环境下的导航策略实验结果表明:该方法能够有效减少路径规划时间,提高搜索效率.EAI移动机器人在线的医院场景模拟环境下实验结果表明:相比传统路径规划算法,该方法能够提高探寻最短路径的效率,且在连续障碍环境下仍能寻找到一条安全性更高、用时最短的最优路径.In view of the traditional navigation robot path in complex large map problem of long search time and low efficiency,a navigation strategy based on hospital under complicated environment was proposed.The situation when mobile robot is detect obstacles in the process of path planning,got temporary task instructions and driving two robots meet in the same floor was designed,response of the three kinds of situation make path planning more intelligent and reasonable.Firstly,the navigation strategy in complex hospital environment is simulated in the simulation environment.Simulation results show that this method can effectively reduce the time of path planning and improve the search efficiency.Finally,the method is applied to EAI mobile robot to carry out the real environment test in hospital.The test results show that the method can improve the speed and efficiency of exploring the shortest path,and can still find a safe and collision-free optimal path with the shortest time in the continuous obstacle environment.Compared with the traditional path planning algorithm,the path planning time is shorter and the security is higher in the complex hospital environment.

关 键 词：移动机器人 路径规划 导航策略 机器人操作系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]