基于改进A*算法的智能仓库移动机器人的路径规划

Path Planning of Intelligent Warehouse Mobile Robot Based on Improved A* Algotithm

针对移动机器人的自动化仓储运行特点,提出了一种改进的A*算法。首先,用棋盘式方法建立机器人移动环境模型。其次,采用基于优先级的子节点生成策略,有效地避免因突遇障碍物而无法行驶的问题。然后针对传统A*算法的转折角度大、转弯方向难,无法在拐点处灵活调整自身姿态等不足,提出了一种新的A*算法路径规划。最后通过修改评价函数,使得改进后的方法得到的路径更加优化。

This paper presents an improved A* algotithm based on the automation and warehousing operation characteristics of mobile robot. First, we build the robot mobile environment model with a checkerboard method. Second, a priority subnode generation strategy is adopted to effectively avoid problems that cannot be driven by obstacles. And then, thanks for the inflexion of the traditional A * algorithm and the difficulty of turning the corner, it is impossible to adjust the posture and other shortcomings at the inflection point, and we propose a new path planning of A * algorithm. Last, the improved method is optimized by modifying the evaluation function,.