基于双向JPS算法的室外移动机器人2.5D路径规划  

2.5D Path Planning of Outdoor Mobile Robot Based on Bidirectional JPS Algorithm

作　　者：刘晓茜 刘海鹏[1] 毛剑琳[1] 方奇文 LIU Xiaoqian;LIU Haipeng;MAO Jianin;FANG Qiwen(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650500

出　　处：《控制工程》2025年第2期233-241,共9页Control Engineering of China

基　　金：云南省重点研发计划项目(202002AC080001)。

摘　　要：针对室外移动机器人在不平坦地形上使用A*算法进行路径规划时冗余节点过多导致路径搜索时间长的问题,采用双向跳点搜索算法来解决。首先,为保证机器人在2.5D地图上的安全性,引入了最大爬坡度;其次,通过位运算快速识别出路径中的关键点,并在评价函数中加入了高度参数来评估下一节点,极大减少了搜索过程中的冗余节点;同时,采用双向交替的搜索方式提高了算法的效率;最后,为了验证算法的有效性,在MATLAB上与传统的A*算法进行比较。仿真结果表明,改进后的算法在2.5D地图上提高了搜索速度,保证了机器人路径规划的安全性,满足了路径规划的要求。In order to solve the problem of long path search time caused by too many redundant nodes when using the A*algorithm for path planning on uneven terrain,the two-way jump point search algorithm is used to solve the problem.Firstly,to ensure the safety of the robot on the 2.5D map,the maximum climbing degree is introduced.Secondly,the key points in the path are quickly identified through the bit operation,and the height parameter is added to the evaluation function to evaluate the next node,which greatly increases the redundant nodes in the search process are reduced.At the same time,the bidirectional alternate search method is adopted to improve the efficiency of the algorithm.Finally,in order to verify the effectiveness of the algorithm,it is compared with the traditional A*algorithm by MATLAB.The simulation results show that the improved algorithm improves the search speed on the 2.5D map,ensures the safety of robot path planning,and meets the requirements of path planning.

关 键 词：2.5D地图 双向跳点搜索 A*算法 位运算 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]