基于平滑A*人工势场法的机器人动态路径规划

Dynamic Path Planning of Robot Based on Smoothed A* Artificial Potential Field Method

针对动态环境下移动机器人的路径规划问题,提出了平滑A*人工势场法的路径规划方法。首先采用平滑A*算法在静态障碍物环境中进行全局路径规划;其次,在机器人遇到动态障碍物时采用A*人工势场法进行局部动态路径规划,并以此调整全局路径规划结果;最后对路径规划结果进行平滑处理。将平滑A*人工势场法应用于机器人动态路径规划,并与D*算法进行对比。实验结果表明,该算法能够在动态环境下规划出一条更为优化的路径,有效缩短了路径长度,提高了规划效率。

A path planning method based on smoothed A ＊ artificial potential field is proposed aiming the path planning problem of mobile robot in dynamic environment, In order to improve the planning efficiency, Firstly a smoothed A ＊ algorithm was used to perform the global path planning in the static obstacle environment;Secondly the A ＊ artificial potential field method was applied to perform the local dynamic path planning and adjusted then the global path planning results when the robot encounters a dynamic obstacle;Finally the path planning results were smoothed. The smoothed A ＊ artificial potential field method is applied to the robot dynamic path planning and compared with the D ＊ algorithm. Experimental results have shown that the proposed al gorithm can be worked out a more optimized path in dynamic environment, effectively shorten the path length, improve the planning efficiency.