基于D~*算法的农用履带机器人路径规划研究

Research on Path Planning of Agricultural Robot Based on D~* Algorithm

针对传统A~*算法在路径规划中的不足,采用了一种实时性更强的D~*算法,与A~*算法不同的是,D~*算法的OPEN列表中包含了弧长代价递增的RAISE和弧长代价递减的LOWE两种状态类型。将传统A~*算法和D~*算法进行仿真试验对比,试验结果表明,D~*算法缩短了搜索长度和搜索时间且收敛速度快、计算量小。同时,在真实环境下进行了导航试验,结果表明机器人能稳定安全的按照规划路径到达目的点,验证了D~*算法的高效率性。

Aiming at the shortcomings of traditional A* algorithm in path planning, a more real-time D* algorithm is adopted. Unlike the A* algorithm, the OPEN list of D* algorithm includes RAISE with arc length cost increasing and LOWE with arc length decreasing. The traditional A* algorithm and D* algorithm were compared by simulation test. The experimental results show that the D* algorithm shortens the search length and search time and has fast convergence and small calculation. At the same time, the navigation experiment was carried out in the real environment. The results show that the robot can reach the destination point in a stable and safe way according to the planned path, and verify the high efficiency of the D* algorithm.