自适应搜索距离的改进A*算法研究  

esearch on Improved A* Algorithm with Adaptive Search Distance

作　　者：张威[1,2] 张泽洲 王伟 ZHANG Wei;ZHANG Ze-zhou;WANG Wei(College of Aviation Engineering Civil Aviation University of China,Tianjin 300300,China;Civil Aviation Special Ground Equipment Research Base,Tianjin 300300,China)

机构地区：[1]中国民航大学航空工程学院,天津300300 [2]中国民航地面特种设备研究基地,天津300300

出　　处：《机械设计与制造》2024年第9期262-265,270,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金委员会与中国民用航空局联合资助重点支持项目(U2033208)。

摘　　要：为了更好解决全局路径规划中扩展搜索范围大、路径容易发生碰撞的问题,提出一种自适应搜索距离的改进A*算法。首先,在路径扩展搜索时采用8个方向上自适应调整搜索距离机制代替原有固定搜索距离,以减少扩展搜索节点数量,减少搜索时间。然后,在障碍物周围容易发生碰撞的节点处,设置防碰距离函数,使规划路径与障碍物间具有适当安全距离。最后,在Robot Operating System(ROS)中,对自适应搜索距离的改进A*算法进行仿真并进行了实验室环境验证。结果表明:在静态结构化场景下实行全局路径规划,对照传统A*算法,所提算法可以显著提高搜索效率、减少碰撞概率。To solve problems about large search range and collision path in global path planning,an improved A*algorithm is devised ground on thought of adaptive search distance.Firstly,an adaptive adjusting search distance mechanism in eight direc⁃tions is adopted to replace the original fixed search distance in phase of path extension search,so as to reduce the number of ex⁃tended search nodes and search time.Then,an anti-collision distance function is built up at the nodes around obstacles that are prone to collision to ensure the safe distance between the planned path and the obstacles.Finally,the improved A*algorithm is emulated and examined in Robot Operating System(ROS)and laboratory environment.The results fully confirm that compared with the existing A*algorithm,the proposed algorithm has advantages of 81.7%,39.7%and 27.3%in the number of searching nodes,efficiency of iteration and rotation optimization,respectively.

关 键 词：自适应搜索 路径规划 A*算法 安全距离 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]