基于改进A^(*)算法的室内机器人路径规划  

The indoor robot path planning based on improved A^(*)algorithm

作　　者：季善峰 陈继文[1] 刘海祥 杨红娟[2] 吴国安 Ji Shanfeng;Chen Jiwen;Liu Haixiang;Yang Hongjuan;Wu Guoan(School of Mechanical and Electrical Engineering,Shandong Jianzhu University,Shandong Jinan,250101,China;School of Information and Electrical Engineering,Shandong Jianzhu University,Shandong Jinan,250101,China)

机构地区：[1]山东建筑大学机电工程学院,山东济南250101 [2]山东建筑大学信息与电气工程学院,山东济南250101

出　　处：《机械设计与制造工程》2025年第3期48-52,共5页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金(51975339);山东省重大科技创新工程项目(2019JZZY010455);2020年度新旧动能转换重大工程重大课题攻关项目(高端装备(5));济南市科技局“高校20条”引进创新团队项目(2019CXR037)。

摘　　要：针对传统室内移动机器人采用A^(*)算法时遇到的路线长、转折点多、难以全局寻优等问题,提出一种改进后的A^(*)算法。首先基于A^(*)算法引入跳点搜索法(JPS),通过选取新的关键节点代替传统父子节点,其次引入权重系数动态平衡实际代价与预估代价,最后使用分段三次Hermite插值(PCHIP)进行平滑度优化。为了验证改进A^(*)算法的性能,将该算法应用于仿真栅格地图和实际室内环境中。实验结果表明,改进后的A^(*)算法缩短了搜索时间,减少了机器人转折点并且能够缩短路径长度,提高机器人运动效率。Aiming at the long routes,many turning points and difficulty in global optimization encountered by traditional indoor mobile robots when using the A^(*)algorithm,an improved A^(*)algorithm is proposed.Firstly,the hop search method(JPS)is introduced based on the A^(*)algorithm,and the new key nodes are selected to replace the traditional parent-child nodes,and the weight coefficients are introduced to dynamically balance the actual cost and the estimated cost,and finally the piecewise cubic Hermite interpolation(PCHIP)is used to optimize the smoothness.In order to verify the performance of the improved A^(*)algorithm,the algorithm is applied to simulated raster maps and real indoor environments.Experimental results show that the improved A^(*)algorithm shortens the search time,reduces the turning point of the robot,shortens the path length,and improves the movement efficiency of the robot.

关 键 词：路径规划 ROS 关键点选取 A^(*)算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]