基于射线和障碍物轮廓的移动机器人全局规划  

Global Path Planning Algorithm for Mobile Robot Based on Ray and Obstacle Contour

作　　者：李二超[1] 康皓 LI Er-chao;Kang Hao(College of Electrical Engineering and Information Engineering,Lanzhou University of Technology,Lanzhou Gansu 730050,China)

机构地区：[1]兰州理工大学电气工程与信息工程学院,甘肃兰州730050

出　　处：《计算机仿真》2024年第1期467-472,531,共7页Computer Simulation

基　　金：国家自然科学基金(62063019,61763026)。

摘　　要：针对全局路径规划算法A*存在的拐点多,路径质量差,在大型地图中搜索效率低的问题,提出了一种基于射线模型以及障碍物轮廓的规划算法。首先将规划过程分为偏置扩展和沿障碍物轮廓扩展两部分;其次在偏置扩展阶段使用射线模型进行快速扩展,在沿障碍物轮廓扩展阶段提出一种融合了栅格方向信息基于A*的搜索方法;接着,为了确保算法的可行性和性能提出了一种新的close表设置方式;最后,在Pycharm设置的仿真环境里进行实验对比,验证了所提算法的可行性和有效性。上述算法相较于A*具有更佳的搜索效率,路径质量也更好。Aiming at the problems of global path planning algorithm A*,which has many inflection points,poor path quality and low search efficiency when the map is large,a planning algorithm based on the ray model and obstacle contour is proposed.Firstly,the planning process is divided into two parts:bias expansion and obstacle contour search.Secondly,the ray model is used for rapid expansion in the bias expansion stage,and a search method based on A*is proposed to integrate the grid orientation information in the expansion stage along the obstacle contour.Then,a new close list setting method is proposed to ensure the feasibility of the algorithm and improve the search efficiency.Finally,the feasibility and effectiveness of the proposed algorithm were verified by experimental comparison in the simulation environment set in Pycharm.Compared with A*,this algorithm has better search efficiency and better path quality.

关 键 词：全局路径规划 射线模型 障碍物轮廓 方向信息 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]