基于双重A~*算法的移动机器人动态环境路径规划

A Path Planning for Mobile Robot Based on Double A~* Algorithm in Dynamic Environment

为了能让移动机器人在动态环境中安全无碰撞并且全局最优和局部最优兼并,减少路径规划时间,提出了一种基于双重A*算法的移动机器人路径规划方法。该方法采用A*算法分别进行全局路径规划和局部路径规划。首先在移动机器人运动前采用A*算法进行全局最优路径规划;当机器人运动过程中遇到障碍物时,再一次采用A*算法进行局部路径规划。所提出方法通过仿真结果验正有效可行,该方法不仅能让机器人在动态环境中安全无碰撞运动,而且能减少路径规划时间。

In order to make the safety of mobile robot in dynamic environment without collision and acquire the global optimal and local optimal path,and reduce the time of path planning,a path planning method for mobile robot based on double A*algorithm is proposed.The method adopts the A*algorithm for the global path planning and the local path planning respectively.The first step is to adopt A*algorithm for the global optimal path planning before the mobile robot movement.When the robot encounters the obstacle,A*algorithm is adopted again for the local path planning.The proposed method is verified the effectiveness through simulation results.The method not only can let mobile robot move safely in a dynamic environment without collision,but also reduces the time of path planning.