摘要
文中提出了一种改进的A*算法并应用于机器人路径规划中。采用基于A*算法的二次路径规划策略,机器人行走时遇到突然出现的未知障碍物时能有效地进行路径重规划;采用基于优先级的子节点生成策略,考虑到了现实中机器人的体积,使规划路径能在现实中得到执行;最后,通过MATLAB仿真平台进行了仿真,验证了此算法的有效性和可靠性。改进的A*算法提高了机器人的智能水平和实时路径规划能力。
This paper presents an improved A＊ algorithm and it is applied to the robot path planning.Adopting the twice-pathplanning strategy,the robot can re-plan its path effectively when falling across an unknown obstacle suddenly in the given environment.Adopting the child node generation strategy based on priority,the path planning can be implemented in reality dealing with the volume of the robot.The experimental results show the validity and reliability of the algorithm in MATLAB simulator.The improved A＊ algorithm improves the robot＇s intelligence and real-time path planning ability.
出处
《电子设计工程》
2014年第19期96-98,102,共4页
Electronic Design Engineering
