改进Hybrid A^(*)的拖挂式移动机器人路径规划算法  

Improved Hybrid A^(*) path planning algorithm for tractor-trailer mobile robot

作　　者：焦嵩鸣[1] 陈雨溪 白健鹏 Jiao Songming;Chen Yuxi;Bai Jianpeng(Department of Automation,North China Electric Power University,Baoding 071003,China)

机构地区：[1]华北电力大学自动化系,保定071003

出　　处：《电子测量技术》2022年第16期80-86,共7页Electronic Measurement Technology

摘　　要：为了提高传统Hybrid A^(*)算法的路径规划效率和安全系数,提出一种改进的Hybrid A^(*)路径规划算法,并将此算法应用在拖挂式移动机器人系统上。首先,对启发函数进行改进,以减少路径规划过程中的计算量,从而提高规划效率;其次,设计障碍惩罚函数,进而实现提前避开行进路径上的障碍物,避免在U型障碍中陷入局部最优解;最后,考虑到拖挂式机器人模型结构的特殊性,无法将其视为质点,为此采用碰撞检测算法来提高规划路径的合理性和准确性。仿真试验验证,提出的改进Hybrid A^(*)路径规划算法可适用于拖挂式机器人系统,且具有规划效率和安全性能高、路径平滑等特点,为其在实际应用中的路径规划提供理论依据。In order to improve the path planning efficiency and security based on traditional Hybrid Aalgorithm, an improved Hybrid Apath planning algorithm is proposed and applied to a tractor-trailer mobile robot system. Firstly, the heuristic function is improved to reduce the computation in the path planning process, so as to improve the planning efficiency. Secondly, the obstacle penalty function is designed, which in turn realizes the avoidance of obstacles on the travel path in advance and avoids getting into local optimal solutions in U-shaped obstacles. Finally, Because the tractor-trailer model cannot be considered as a prime point, a collision detection algorithm is used to improve the reasonableness and accuracy of the planned path. The simulation results show that the improved Hybrid Apath planning algorithm can be applied to the tractor-trailer mobile robot system, and has the characteristics of high planning efficiency, high security and smooth path, which provides a theoretical basis for its path planning in practical application.

关 键 词：拖挂式机器人 路径规划 改进Hybrid A^(*)算法 惩罚函数 碰撞检测算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]