基于人机交互改进A~*算法的路径规划研究

Research on Path Planning Based on Improved Human-mComputer Interaction A~* Algorithm

针对传统装配路径规划方法应用于复杂装配体时出现的组合爆炸问题,提出了一种基于人机交互的改进A^*算法。该算法通过人机交互路径规划方法对复杂装配体划分了层次,且对装配体各层次利用改进A^*算法通过并行输入的方式求解各层次零部件的最优装配路径,并最终获得了整个装配体的最优装配路径。通过算法对比与电主轴装配路径规划实验表明:基于人机交互的改进A*算法较传统路径规划方法效率提升了33.6%,并可成功应用于复杂装配体的装配路径规划。

Aiming at the combined explosion problem caused by the traditional assembly path planning method applied to complex assemblies, an improved A ^* algorithm based on human-mcomputer interaction is proposed. The algorithm divides the complex assemblies by human-mcomputer interaction path planning method, and uses the improved A ^* algorithm to solve the optimal assembly path of each layer component through parallel input, and finally obtains the whole assemblies optimal assembly path. Experiments with algorithm comparison and electric spindle assembly path planning show that:The improved A ^* algorithm based on human-mcomputer interaction has an efficiency improvement of 33.6% compared with the traditional path planning method, and can be successfully applied to the assembly path planning of complex assemblies.