摘要
为了解决A^(*)算法在全局路径规划中扩展节点过多导致搜索时间长、转弯过多导致路径不平滑的问题,提出了一种改进的A;算法。首先,对估价函数进行改进,估价函数中包含实际代价和估计代价,在估计代价前乘以一个估计代价影响系数;其次,在扩展节点的过程中对于目标节点所在方位的相邻节点进行优先扩展;最后,在节点的实际代价和估计代价的计算中加入转弯代价。通过仿真平台的验证,证明了改进A^(*)算法能够有效减少路径搜索时扩展节点的数量以及搜索路径结果的转弯次数,能够有效的提高寻路的计算效率和自动引导车(AGV)的执行任务的效率。
In order to solve the problems of A^(*) algorithm in global path planning that too many extended nodes lead to long search time and too many turns lead to uneven path,an improved A;algorithm was proposed.Firstly,the evaluation function is improved.The evaluation function contains actual cost and estimated cost,and is multiplied by an estimated cost influence coefficient before the estimated cost.Secondly,in the process of extending nodes,the adjacent nodes in the direction of the target node are given priority to be extended.Finally,turning cost is added into the calculation of actual cost and estimated cost of nodes.Through the verification of the simulation platform,it is proved that the improved A^(*) algorithm in this paper can effectively reduce the number of expansion nodes and the number of turns of the search path results in the path search,and can effectively improve the computational efficiency of pathfinding and the efficiency of the AGV execution task.
作者
张建光
张方
陈良港
蒋祺
朱伟
Zhang Jianguang;Zhang Fang;Chen Lianggang;Jiang Qi;Zhu Wei(State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics Astronautics,Nanjing 210016,China;Kunshan Huaheng Welding Co.,Ltd.,Kunshan 215300,China)
出处
《国外电子测量技术》
北大核心
2022年第1期123-128,共6页
Foreign Electronic Measurement Technology
基金
江苏高校优势学课建设工程项目资助。
