改进A*算法在喷浆机器人路径规划中的研究  

Research on Improved A*Algorithm in Path Planning of Spraying Robot

作　　者：苏畅[1] 袁泉 李子强 余晓帆 Su Chang;Yuan Quan;Li Ziqiang;Yu Xiaofan(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan,Anhui 232001,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《黑龙江工业学院学报（综合版）》2024年第1期145-150,共6页Journal of Heilongjiang University of Technology(Comprehensive Edition)

摘　　要：针对经典A*算法在路径规划中存在搜索节点多、安全性低、路径转折角度大等问题,提出一种改进的A*算法。通过优化评价函数,减少搜索的时间、提高搜索效率;改变子节点的选择方式,避免喷浆机器人穿过障碍物的顶点、与障碍物之间的距离过近,提高其工作的安全性;通过贝塞尔曲线对路径进行平滑优化,降低了转折角度。在不同尺寸的栅格地图上进行多次仿真实验,仿真结果表明所提算法有效减少搜索时间,增加规划路径的安全性,降低转折角度,路径更加平滑,获得较优路径。Aiming at the problems of the traditional A*algorithm in path planning,such as many search nodes,low security and large path turning angle,an improved A*algorithm is proposed.By optimizing the evaluation function,the search time is reduced and the search efficiency is improved.Change the selection method of sub-nodes to avoid the spraying robot from passing through the apex of the obstacle and the distance between it and the obstacle is too close,so as to improve the safety of its work;the path is smoothed and optimized by the Bezier curve,reducing the angle of turning.The simulation results show that the proposed algorithm effectively reduces the search time and the turning angle,increases the safety of the planned path,makes the path smoother,and obtains a better path.

关 键 词：路径规划 改进A*算法 喷浆机器人 评价函数 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]