改进跳点搜索算法的移动机器人路径规划  

Path Planning of Mobile Robot with Improved JPS

作　　者：陈芹 李燕 樊新宇 CHEN Qin;LI Yan;FAN Xinyu(School of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China;School of Internet of Things Engineering,Wuxi University,Wuxi 214105,China)

机构地区：[1]南京信息工程大学自动化学院,南京210044 [2]无锡学院物联网工程学院,无锡214105

出　　处：《组合机床与自动化加工技术》2024年第9期81-85,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对传统跳点搜索算法在路径搜索过程中存在过多扩展节点、搜索时间长、平滑性和安全性差的问题,提出一种跳点搜索算法与B样条曲线的结合算法。引入双向跳点搜索策略,从正反两个方向交替搜索并结合双向的最小实际代价节点当前位置,改进算法的启发式函数。增加了正反方向最小实际代价节点中间无障碍物结束搜索的方式,避免搜索路径局部最优化。利用3次B样条曲线对生成路径进行曲线优化。仿真结果表明,改进算法与现有路径规划算法对比,在得到安全路径的基础上,扩展节点个数更少,搜索时间更短,搜索效率更高。Aiming at the problems of too many extended nodes,long search time,poor smoothness and security in traditional jump search algorithm,a combination algorithm of jump search algorithm and B-spline curve is proposed.The heuristic function of the algorithm is improved by introducing the bidirectional jump search strategy,searching alternately from the positive and negative directions and combining the bidirectional minimum real cost node's current position.The method of ending the search without obstacles in the middle of the node with minimum real cost in positive and negative directions is added to avoid local optimization of the search path.The curve optimization of the generation path is carried out by using the 3rd order B-spline curve.The simulation results show that compared with the existing path planning algorithm,the improved algorithm has less extended nodes,shorter search time and higher search efficiency.

关 键 词：跳点搜索 路径规划 曲线优化 启发式函数 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]