煤矿井下基于改进A*算法的移动机器人路径规划

Path Planning of Mobile Robot Based on Advanced A* Algorithm under Coal Mine

移动机器人的路径规划一直是移动机器人研究领域的难点问题。针对煤矿井下环境的不确定性,移动机器人路径规划效果不理想,采用启发式搜索算法中的A*算法实现井下移动机器人的局部路径规划,并对A*算法中的估价函数进行加权修正,保证了估价函数的可靠性,提高了路径规划效率。仿真实验说明该方法的有效性和可行性。

Path planning of mobile robot is still a difficult question in the mobile robot research domain. An A ＊ algorithm of heuristic search is used to realized local path planning of mobile robot under coal mine for environment uncertainty of coal mine because it is difficult to obtain a good path in such a enivronment. Estimate function is modified by using weight then the reliability of function is guaranteed. The efficiency of path planning is improved. Simulation shows that the algorithm is efficient and feasible.