改进A<sup>*</sup>算法的机器人全局最优路径规划

doi:10.11772/j.issn.1001-9081.2019020284

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摘要

针对传统A^*算法规划的路径存在很多冗余点和拐点的问题，提出了一种基于A^*算法改进的高效路径规划算法。首先，改进评价函数的具体计算方式，减小算法搜索每个区间的计算量，从而降低寻路时间，并改变生成路径；其次，在改进评价函数具体计算方式的基础上，改进评价函数的权重比例，减少生成路径中的冗余点和拐点；最后，改进路径生成策略，删除生成路径中的无用点，从而提高路径的平滑性；此外，考虑到机器人的实际宽度，改进后算法引入障碍物扩展策略保证规划路径的可行性。将改进A^*算法与三种算法进行仿真对比，实验结果表明，改进后的A^*算法规划的路径更加合理，寻路时间更短，平滑性更高。

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关键词 ： A^*算法, 路径规划, 评价函数, 生成策略, 障碍物扩展

Abstract：

There are many redundant points and inflection points in the path planned by the traditional A^* algorithm. Therefore, an efficient path planning algorithm based on A^* algorithm was proposed. Firstly, the specific calculation method of the evaluation function was improved to reduce the calculation amount of the algorithm searching each interval, thereby reducing the path finding time and changing the generation path. Secondly, on the basis of improving the specific calculation method of the evaluation function, the weight ratio of the evaluation function was improved, and the redundant points and inflection points in the generation path were reduced. Finally, the path generation strategy was improved to delete the useless points in the generation path, improving the smoothness of the path. In addition, considering the actual width of the robot, the improved algorithm introduced an obstacle expansion strategy to ensure the feasibility of the planned path. The comparison of the improved A^* algorithm with three algorithms shows that the path of the improved A^* algorithm is more reasonable, the path finding time is shorter, and the smoothness is higher.

Key words： A^* algorithm path planning evaluation function generation strategy obstacle expansion

收稿日期: 2019-02-21 出版日期: 2019-06-03

中图分类号:

TP242.6

基金资助:

国家自然科学基金资助项目（61603242）；江西省经济犯罪侦查与防控技术协同创新中心开放课题（JXJZXTCX-030）。

通讯作者: 曾国辉 E-mail: zenggh@sues.edu.cn

作者简介: 王中玉(1993-),男,江苏徐州人,硕士研究生,主要研究方向:机器人控制、路径规划算法;曾国辉(1975-),男,江西乐安人,副教授,博士,主要研究方向:机器人控制、电力电子及其控制;黄勃(1985-),男,湖北武汉人,讲师,博士,主要研究方向:需求工程、软件工程、人工智能;方志军(1971-),男,江西鄱阳人,教授,博士,主要研究方向:模式识别、智能计算、视频分析。

引用本文:

王中玉, 曾国辉, 黄勃, 方志军. 改进A^*算法的机器人全局最优路径规划[J]. 计算机应用, 2019, 39(9): 2517-2522. WANG Zhongyu, ZENG Guohui, HUANG Bo, FANG Zhijun. Global optimal path planning for robots with improved A^* algorithm. Journal of Computer Applications, 2019, 39(9): 2517-2522.

链接本文:

http://www.joca.cn/CN/10.11772/j.issn.1001-9081.2019020284 或 http://www.joca.cn/CN/Y2019/V39/I9/2517

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