GIS腔体内移动平台基于改进A^(*)算法的三维路径规划  

3D PATH PLANNING BASED ON A^(*)ALGORITHM FOR GIS INTRACAVITY MOBILE PLATFORM

作　　者：苗佳藤 佃松宜[1] 赵涛[1] 向国菲[1] Miao Jiateng;Dian Songyi;Zhao Tao;Xiang Guofei(College of Electrical Engineering,Sichuan University,Chengdu 610065,Sichuan,China)

机构地区：[1]四川大学电气工程学院,四川成都610065

出　　处：《计算机应用与软件》2023年第11期282-287,307,共7页Computer Applications and Software

基　　金：国网宁夏电力有限公司电力科学研究院项目(18H0334)。

摘　　要：针对已知气体绝缘开关设备GIS腔体环境信息下的移动机器人三维空间路径规划问题,提出一种改进A^(*)算法的全局路径规划算法。描述GIS腔体内孔洞陷阱的障碍物环境,用三维栅格地图表达弧形腔体环境;针对传统A^(*)算法规划的路径不平滑、多转弯缺点,引入动态衡量启发式函数,结合三次准均匀B样条函数对路径进行平滑处理;通过仿真验证了算法在三维环境下的有效性。Aimed at the problem of three-dimensional space path planning of mobile robot with known gas insulated switchgear(GIS)cavity environment information,an improved global path planning algorithm of A^(*)algorithm is proposed.The obstacle environment of the hole trap in GIS cavity was described,and the arc cavity environment was expressed by three-dimensional raster map.In view of the path unsmoothed and multi-turn defects of traditional A^(*)algorithm,a dynamic heuristic function was introduced,and the path was smoothed by combining the cubic quasi-uniform B-spline function.The effectiveness of the algorithm in three-dimensional environment was proved by simulation.

关 键 词：移动机器人 三维路径规划 改进A^(*)算法 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]