基于改进A*算法的仓储移动机器人路径规划研究  

Research on Path Planning of Warehouse Mobile Robots based on Improved A*Algorithm

作　　者：王影[1] 王晨[1] 孙万龙 刘麒[1] WANG Ying;WANG Chen;SUN Wanlong;LIU Qi(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin City 132022,China;Bosch Automotive Components(Changchun)Co.,LTD,Changchun 130000,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022 [2]博世汽车部件(长春)有限公司,吉林长春130000

出　　处：《吉林化工学院学报》2023年第9期23-27,共5页Journal of Jilin Institute of Chemical Technology

基　　金：吉林市科技成果项目(201750244);吉林市科技成果项目(20190502118);吉林化工学院科研项目(2018064);吉林化工学院重大科技项目(2016033);吉林化工学院重大科技项目(2018017)。

摘　　要：针对仓储移动机器人路径规划存在安全性较低、搜索速度较慢的问题,提出了一种基于改进A*算法的路径规划方法。该方法首先对地图中的障碍物进行膨胀处理,在此基础上,改进了传统A*算法的搜索方式和启发式函数,将单向搜索改为双向搜索,并对预估代价进行了指数加权。实验结果表明,相较于传统A*算法,提出的算法在不同规模的地图中搜索时间最多可减少18.59%,显著地提高了仓储移动机器人的搜索效率。A method based on an improved A*algorithm was proposed to address the issues of low safety and slow search speed in path planning for warehouse mobile robots.This method first performs an inflation operation on the obstacles in the map.Based on this,the search strategy and heuristic function of the traditional A*algorithm were improved.The algorithm utilized a bidirectional search approach and introduced an exponentially weighted estimation cost.Experimental results demonstrated that compared to the traditional A*algorithm,the proposed algorithm could reduce search time by up to 18.59%in maps of different scales,significantly improving the search efficiency of warehouse mobile robots.

关 键 词：仓储 移动机器人 路径规划 A*算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]