摘要
路径规划是移动机器人研究的重要内容之一。传统机器人路径规划方法存在搜索范围大、算法复杂、效率低等问题。为提高路径规划的搜索效率,文中提出将A~*算法用于机器人路径规划。A~*算法的路径规划采用栅格法对环境进行建模,通过选取合适的启发函数选择代价低的节点扩展,大幅减少了搜索节点,从而快速找到一条最优路径。通过仿真与经典Dijkstra算法进行比较,验证了A~*算法用于机器人路径规划的可行性和有效性。
Traditional path planning methods are inefficient, complex and in large scope. In order to improve the efficiency of path planning, a mobile robot path planning method is proposed based on the A ＊ algorithm. This method firstly builds the environment using the grid map, then selects appropriate heuristic and expand nodes with minimum cost, and finally reduces the number of search nodes and find an optimal path. Simulation shows that the A ＊ algorithm is more effective than the Dijkstra algorithm in robot path planning.
出处
《电子科技》
2017年第6期124-127,共4页
Electronic Science and Technology
