基于改进A^(*)算法和Bezier曲线平滑的单AGV路径规划  

Single AGV path planning based on an improved A^(*)algorithm and Bezier curve smoothing

作　　者：谌生 文家燕[1,2,3] 高远[1,3] CHEN Sheng;WEN Jiayan;GAO Yuan(School of Automation,Guangxi University of Science and Technology,Liuzhou 545616,China;Research Center for Intelligent Cooperation and Cross-application(Guangxi University of Science and Technology)Liuzhou 545616,China;Guangxi Key Laboratory of Automobile Components and Vehicle Technology(Guangxi University of Science and Technology),Liuzhou 545616,China)

机构地区：[1]广西科技大学自动化学院,广西柳州545616 [2]智能协同与交叉应用研究中心(广西科技大学),广西柳州545616 [3]广西汽车零部件与整车技术重点实验室(广西科技大学),广西柳州545616

出　　处：《广西科技大学学报》2025年第2期59-68,共10页Journal of Guangxi University of Science and Technology

基　　金：国家自然科学基金项目(61963006);广西自然科学基金面上项目(2018GXNSFAA050029);广西科技重大专项(桂科AA22068064);2022年广西汽车零部件与整车技术重点实验室自主研究课题(2022GKLACVTZZ01)资助。

摘　　要：针对传统A^(*)(A-Star)算法规划的路径普遍存在大量冗余节点和转折尖峰点、搜索时间长、搜索效率低下以及路径不平滑等问题,提出了一种改进A^(*)算法。首先,将传统A^(*)算法单向搜索方式改进为双向搜索,增强路径搜索的实时性;同时提出删除路径上的冗余节点、保留必要转折点策略,有效地减少规划路径的转折次数。其次,利用动态寻优思想对启发函数进行改造,并进一步对搜索邻域进行优化,将传统的八邻域搜索改进为五邻域搜索,有效减少无关节点的遍历,提高了路径搜索效率。最后,在保证搜索路径最优的情况下,采用5次贝塞尔曲线(Bezier曲线)对路径进行平滑优化处理,有效消除路径转折处的尖峰点,使得规划的路径更为平滑,有利于实际中减少自动导引车(automated guided vehicle,AGV)转弯能耗。仿真结果表明:相较传统A^(*)算法,双向搜索改进的A^(*)算法路径长度优化了2.51%,遍历节点数减少了近46.08%,同时搜索时间减少了近46.66%。Addressing the issues of excessive redundant nodes,sharp turns,lengthy search times,low search efficiency,and non-smooth paths inherent in traditional A^(*)(A-Star)path planning algorithms,an improved A^(*)algorithm was proposed.Firstly,the conventional unidirectional A^(*)search was transformed into a bidirectional search to enhance real-time path searching.Simultaneously,a strategy was introduced to remove redundant nodes on the path while retaining necessary turning points,effectively reducing the number of turns in the planned path.Secondly,employing the dynamic optimization concept,the heuristic function was restructured,and further optimization was applied to the search neighborhood,transforming the traditional eight-neighbor search into a five-neighbor search to efficiently reduce the traversal of irrelevant nodes and improve path search efficiency.Finally,while ensuring the optimality of the search path,a smoothing optimization process was applied using five Bezier curves to eliminate sharp peaks at path turns,resulting in a smoother planned path beneficial for reducing energy consumption during turns for automated guided vehicles(AGV).Simulation results indicate that compared with the traditional A^(*)algorithm,the bidirectional enhanced A^(*)algorithm optimizes the path length by 2.51%,reduces the number of traversed nodes by about 46.08%,and decreases search time by about 46.66%.

关 键 词：路径规划 自动导引车(AGV) 双向搜索 A-STAR算法 BEZIER曲线 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]