移动机器人全局路径规划算法的研究

Research on Global Path Planning Algorithm of Mobile Robot

全局路径规划是移动机器人要解决的重要问题,较好的路径搜索算法可以迅速搜索有效路径,提升移动机器人的智能性,提升用户体验。针对目前移动机器人行为决策能力较弱的问题,着重研究移动机器人的全局路径规划问题,通过研究盲目式搜索算法、A*算法和遗传算法,分析了3种算法在解决路径规划问题中的优劣,使用A*算法在Unity平台上虚拟移动机器人的全局路径规划模块,并且使用贪婪平滑算法优化A*算法产生的多余路径,路径搜索的效率较高,移动机器人的智能性和真实感较好。

Path planning is an important problem of mobile robots, and a better path planning algorithm can search the effec- tive paths quickly, enhance the intelligence of mobile robot and enhance interaction experience of users. This paper studied the A ＊ algorithm and genetic algorithm and applied these algorithms in path planning of mobile robot based on Unity engine. Path plan- ning module for virtual mobile robot was implemented using the A ＊ algorithm. The path search efficiency is increased and the mo- bile robots are more intelligent and authentic.