基于改进A^(*)算法的药品搬运机器人  

Design of an intelligent drug-carrying robot system based on improved A^(*)algorithm

作　　者：周文伟 岳文 冯疆 康长青 孙成娇 ZHOU Wenwei;YUE Wen;FENG Jiang;KANG Changqing;SUN Chengjiao(School of Computer Engineering,Hubei University of Arts and Science,Xiangyang 441053,Hubei,China)

机构地区：[1]湖北文理学院计算机工程学院,湖北襄阳441053

出　　处：《智能计算机与应用》2024年第11期43-51,共9页Intelligent Computer and Applications

基　　金：湖北省自然科学基金计划项目(2024AFB147);襄阳市高新领域科技计划项目(2022ABH006596);创新创业教育专项(CX2023003);国家基金课题培育项目专项(2023pygpzk10)。

摘　　要：医院取药是医疗服务的重要组成部分,但存在效率低下和安全隐患等问题。为提升病患的医疗体验并改善传统A^(*)算法在医院环境中路径规划存在的问题,对医用智能药品搬运机器人的设计进行了研究。在分析医院复杂环境的基础上,提出了一种改进的A^(*)算法,能有效减少路径中的冗余节点、降低能源消耗。仿真结果显示,在静态障碍物场景中,改进的A^(*)算法能降低46.55%的搜索节点数量和28.88%的计算时间,同时降低68.48%的路径节点数量和61.54%的转折次数。研究表明,改进的A^(*)算法能有效提升智能药品搬运机器人性能,为医院取药提供了新的解决方案。Hospital medication retrieval is an important part of medical services,but it faces issues such as low efficiency and safety hazards.In order to improve the medical experience for patients and address the problems of traditional A^(*)algorithm in path planning in a hospital environment,the design of medical intelligent drug delivery robots has been studied.Based on the analysis of the complex hospital environment,an improved A^(*)algorithm is proposed,which can effectively reduce redundant nodes in the path and decrease energy consumption.Simulation results demonstrate that in static obstacle scenarios,the improved A^(*)algorithm can reduce the number of search nodes by 46.55%and the computation time by 28.88%,while also reducing the number of path nodes by 68.48%and the number of turns by 61.54%.The research indicates that the improved A^(*)algorithm can effectively enhance the performance of intelligent drug delivery robots,providing a new solution for hospital medication retrieval.

关 键 词：改进的A^(*)算法 搬运机器人 医院药房 药品搬运 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]