基于改进A*算法的多灭火小车协同路径规划

Coordinated Fire-Fighting Robots Path Planning Method Based on Improved A*Algorithm

针对传统路径规划算法对多灭火小车协同灭火路径规划时,易陷入局部最优解,无法得到全局最优路径且目标点集庞大时规划效率很低的问题,提出一种基于多目标优化算法及博弈均衡理论的多小车目标点分配算法,并且对邻近目标点归一化处理,引入拐弯代价和启发函数加权系数对传统A*算法进行改进,在栅格法地图建模过程中引入障碍膨胀系数,建立避让规则库。得到了一种路径规划结果为全局均衡解,目标点集精简,路径较平滑,无碰撞死锁风险的多灭火小车多协同灭火路径规划方法。最后算例实验验证了改进的方法的可行性,以及在全局均衡解优化上的优秀性。

When traditional path planning algorithms are used for multiple fire-fighting robots cooperating fire extinguishing,the problem comes that it is easy to fall into local optimal trap,and unable to get the global optimal path and inefficiency when the target set is huge.This paper proposes an targets allocation algorithm for multiple ro-bots based on multi-objective optimization and game equilibrium theory,and takes normalization method to adjacent targets.The paper also introduces the turning cost and weighting coefficient of heuristic function to improve the tradi-tional A*algorithm,introduce the obstacle expansion coefficient to build the environment with grid method,and sets a collision avoidance rule base.Result comes to a path planning method for multiple robots cooperating fire extinguis-hing,which gives out a global equilibrium solution,a reduced target set and a smoother path,and has no risk of col-lision or deadlock.Several examples are given to verify the excellence of the improved method in global equilibrium solution optimization.