改进A^(*)算法的安全高效室内全局路径规划  

Improved A^(*) algorithm for secure and efficient indoor global path planning

作　　者：杨国[1,2] 吴晓 肖如奇 张若愚[1,2] 吴文 Yang Guo;Wu Xiao;Xiao Ruqi;Zhang Ruoyu;Wu Wen(School of Electronic and Optical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;Key Laboratory of Near-Range RF Sensing ICs&Microsystems(NJUST),Ministry of Education,Nanjing 210094,China)

机构地区：[1]南京理工大学电子工程与光电技术学院,南京210094 [2]近程射频感知芯片与微系统教育部重点实验室,南京210094

出　　处：《电子测量与仪器学报》2024年第7期131-142,共12页Journal of Electronic Measurement and Instrumentation

基　　金：国家自然科学基金(62201266)项目资助。

摘　　要：针对A^(*)算法生成路径存在斜穿障碍物、转折点多及不平滑的情况,本文提出一种改进的A^(*)算法。首先通过排除所有强迫邻居节点来优化搜索邻域,避免生成斜穿障碍物的路径,提升路径的安全性和可靠性;其次设置安全距离,提取优化邻域后生成路径的必经转折点,减少路径冗余,简化路径结构;最后使用贝塞尔曲线对必经转折点进行插值,根据相邻两必经转折点的位置和连线斜率确定每段贝塞尔曲线控制点的数量和位置,进行分段平滑。仿真实验表明,改进的A^(*)算法较原A^(*)算法生成的路径安全性平均提升了33.68%,转折点个数平均减少了37.00%,同时机器人转向角和路径曲率连续,保证了路径的平滑。改进的A^(*)算法最终生成的路径与障碍物均保持在安全距离内,转折点少且平滑,可应用到移动机器人室内路径规划中。This paper presents an enhanced A^(*) algorithm aimed at resolving issues of diagonal traversal of obstacles,excessive numbers of turning points,and non-smooth paths produced by the conventional A^(*) algorithm.Initially,by excluding all forced neighboring nodes,the search neighborhood is optimized to prevent the generated path from diagonally crossing obstacles,thereby enhancing path safety and dependability.Subsequently,a safe distance is established,and crucial turning points are extracted from the generated path after optimizing the neighborhood,reducing path redundancies and simplifying the path structure.Lastly,the algorithm employs Bezier curves to interpolate essential turning points,determining the quantity and position of control points for each segment based on the positions of adjacent necessary turning points and the connecting line slopes to achieve segmental smoothing.Simulation experiments demonstrate that compared to the original A^(*) algorithm,the improved A^(*) algorithm exhibits an average 33.68% enhancement in path safety and a corresponding average reduction of 37.00%in the number of turning points.Additionally,the robot′s turning angle and path curvature are continuous,ensuring path smoothness.The paths generated by the refined A^(*) algorithm are smooth,with few turning points,and maintain a safe distance from obstacles,which can be applied to indoor path planning for mobile robots.

关 键 词：路径规划 A^(*)算法 安全 转折点 路径平滑 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]