摘要
室内机器人对避障和路径规划效率都有很高要求,传统A*算法忽略机器人尺寸、动态环境中重规划耗时,不适用于室内路径规划。为解决上述问题,提出了一种改进A*路径规划算法。根据机器人尺寸已知、未知两种情况,采用基于路线禁选原则或栅格禁选原则进行规划。依据地图更新信息,使用增量A*算法进行重规划。仿真结果表明,改进A*算法规划出的路径能基于机器人尺寸合理避障,并大幅度减少了重规划时搜索的栅格节点数量,缩短了重规划时间,优化了室内机器人服务目标避障路径质量。
ABSTRACT：Indoor robots have high requirements for obstacles avoidance and path planning efficiency. The tradi- tional A ＊ algorithm ignores robot size and its dynamic environment replanning is time consuming, which does not ap- ply to indoor path planning. In order to solve these problems, an improved A ＊ path planning algorithm is proposed. Depending on whether the robot＇ s size is known or unknown, the path planning was used based on the principles of the election ban or raster ban election principles. Based on the map update information, the A ＊ algorithm incremen- tal re-planning was used. Simulation results show that the improved A ＊ algorithm can plan a reasonable obstacles a- voidance path based on robot＇ s size, which greatly reduces the number of grid nodes search during re-planning, shortens the re-planning time, and optimizes the quality of indoor robot service target obstacles avoidance path.
出处
《计算机仿真》
北大核心
2018年第1期301-305,336,共6页
Computer Simulation
基金
山西省自然科学基金(2013011015-1)
关键词
室内机器人
路径规划
避障优化
Indoor wheeled robot
Path planning
Obstacles avoidance optimization
