随机地图下改进A^(*)路径规划算法研究  

Improved A^(*) path planning algorithm based on stochastic map

作　　者：林硕[1] 金恒江 韩忠华[1] 赵剑明[2] LIN Shuo;JIN Hengjiang;HAN Zhonghua;ZHAO Jianming(School of Electrical and Control Engineering,Shenyang Jianzhu University,Shenyang 110168,CHN;Laboratory of Industrial Control Network and System,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,CHN)

机构地区：[1]沈阳建筑大学电气与控制工程学院,辽宁沈阳110168 [2]中国科学院沈阳自动化研究所工业控制网络与系统研究室,辽宁沈阳110016

出　　处：《制造技术与机床》2025年第2期43-47,共5页Manufacturing Technology & Machine Tool

基　　金：国家重点研发计划项目(2021YFB3101600);辽宁省自然科学基金项目(2023JH2/101300202);辽宁省教育厅高等学校基本科研项目重点项目(LJKZ0583);辽宁省科技厅应用基础研究计划项目(2022JH2/101300253)。

摘　　要：为解决传统算法在规划AGV(automated guided vehicles)路径时存在的节点多、路径不平滑和拓展范围广等问题,提出了一种改进A*算法。首先,采用栅格法建立环境信息;其次,通过加权后的障碍物比例对启发函数进行改进,同时增加防碰撞函数以降低碰撞概率;最后,对所提出的改进算法进行拐角优化,减少AGV实际作业时的转弯次数。实验数据表明,简单环境下改进A^(*)算法的遍历节点数较两种传统算法分别缩短了85.3%、55.9%;复杂环境下改进A*算法的遍历节点数较两种传统算法缩短94.5%、70.3%。同时拐点数量减少、路径更加平滑、路径规划时间也大幅缩短,提高了运行效率并有效降低碰撞概率。To address issues such as high node count,non-smooth paths,and wide exploration range encountered by traditional algorithms in automated guided vehicles(AGV)path planning,an improved A^(*)algorithm is proposed.Firstly,a grid-based method is employed in the environmental modeling.Secondly,the heuristic function is enhanced by incorporating a weighted obstacle ratio.Additionally,collision avoidance functions are introduced to mitigate collision risks.Finally,corner optimization is applied to reduce the number of turns during AGV operations.Experimental results demonstrate significant improvements.In simple environments,the improved A^(*) algorithm reduces node traversal by 85.3%and 55.9%compared to two traditional algorithms.In complex environment,the number of traversal nodes of the improved A*algorithm is reduced by 94.5%and 70.3%.Moreover,the optimized algorithm decreases the number of corners,ensures smoother paths,shortens planning times,enhances operational efficiency,and effectively lowers collision probabilities.

关 键 词：路径规划 改进A^(*)算法 环境建模 拐角优化 防碰撞 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]