基于改进D^(*)Lite算法的移动机器人路径规划  

Path planning of mobile robot based on improved D^(*)Lite algorithm

作　　者：王军 乔丽颖[1,2,3] 撖昊展 张华良 WANG Jun;QIAO Liying;HAN Haozhan;ZHANG Hualiang(School of Computer Science and Technology,Shenyang University of Chemical Technology,Shenyang 110142,China;Liaoning Provincial Key Laboratory of Industrial Intelligent Technology for Chemical Processes(Shenyang University of Chemical Technology),Shenyang 110142,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]沈阳化工大学计算机科学与技术学院,沈阳110142 [2]辽宁省化工过程工业智能化技术重点实验室(沈阳化工大学),沈阳110142 [3]中国科学院沈阳自动化研究所,沈阳110016 [4]中国科学院机器人与智能制造创新研究院,沈阳110169

出　　处：《中国科技论文》2023年第7期699-705,共7页China Sciencepaper

基　　金：国家重点研发计划项目(2018YFE0205803);辽宁省“百千万人才工程”资助项目(辽人社[2019]45号);辽宁省自然科学基金资助项目(2022-MS-291);辽宁省教育厅科研项目(LJ2020024)。

摘　　要：针对在动态环境下采用D^(*)Lite算法进行移动机器人路径规划时存在的搜索效率低、路径不平滑、容易与障碍物顶点碰撞等问题,提出一种基于危险因子和三次均匀B样条曲线的改进方法。首先,进行函数优化,当扩展邻节点时,将传统启发函数计算方法改为对角线距离,以提升规划效率,并在节点代价中融合危险因子,以避免机器人斜向移动时斜穿障碍物尖角而与其发生碰撞;其次,结合三次均匀B样条曲线对路径进行拟合优化,使路径更加平滑。针对上述改进,采用PyCharm软件进行仿真,结果表明,改进后的算法有效提升了路径规划的效率及路径的安全性、实用性。Aiming at the problems of low search efficiency,unsmooth path,and easy collision with obstacle vertices when using D^(*)Lite algorithm for mobile robot path planning in dynamic environment,a new method based on risk factor and cubic uniform B-spline curve was proposed.First,perform function optimization.When expanding the adjacent points,the traditional heuristic function calculation method is changed to the diagonal distance to improve the planning efficiency,and the risk factors are integrated into the node cost,so as to avoid the robot moving obliquely through the sharp corners of obstacles and colliding with the sharp corners of obstacles;Secondly,the path is fitted and optimized by combining the cubic uniform B-spline curve to make the path smoother.Aiming at the above improvements,PyCharm software is used to simulate,and the results show that the improved algorithm can effectively improve the efficiency of path planning and the safety and practicability of paths.

关 键 词：移动机器人 动态路径规划 D^(*)Lite算法 危险因子 三次均匀B样条曲线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]