移动机器人路径规划安全A^(*)算法  

Safe A^(*)Algorithm of Mobile Robot Path Planning

作　　者：葛文雅 李平[1] GE Wenya;LI Ping(College of Information Science and Engineering,Huaqiao University,Xiamen 361021,China)

机构地区：[1]华侨大学信息科学与工程学院,福建厦门361021

出　　处：《华侨大学学报（自然科学版）》2022年第5期658-667,共10页Journal of Huaqiao University(Natural Science)

基　　金：国家自然科学基金资助项目(61603144);福建省自然科学基金资助项目(2018J01095);福建省高校产学合作科技重大项目(2013H6016);华侨大学中青年教师科技创新资助计划项目(ZQN-PY509)。

摘　　要：针对移动机器人路径规划时安全性不高的问题,提出一种路径规划安全A^(*)算法.首先,通过扩展搜索邻域,减小路径转角角度,避免不必要的折角;然后,在启发式函数中引入新的评价指标,增加移动机器人与障碍物的距离.最后,提出安全性指数S,对路径安全性进行量化.通过MATLAB软件进行仿真对比,仿真结果表明:文中算法的路径质量和安全性更佳.Aiming at the problem of low security in mobile robot path planning,a safe A^(*)algorithm of path planning was proposed.Firstly,by expanding the search neig hborhood,the path corner angle was reduced and unnecessary broken angle was avoided.Then,a new evaluation index was introduced into the heuristic function with increase the distance between mobile robot and obstacle.Finally,the security index S was proposed to quantify the path security.Simulation comparison was conducted using MATLAB software,the simulation re-sults showed that compared with A^(*)algorithm,the path quality and security of the proposed algorithm was better.

关 键 词：移动机器人 路径规划 安全A^(*)算法 栅格环境 路径安全性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]