改进的A*算法移动机器人路径规划

Improved A Algorithm for Path Planning of Mobile Robot

针对复杂环境下移动机器人利用A*算法规划的路径存在转折点多,路径不够平滑且移动机器人无法在拐点处自动调整姿态等问题,提出一种改进的A*算法。首先在障碍物边缘放置虚拟障碍物形成缓冲区,同时改进A*算法启发搜索函数,并在静态、动态环境下进行仿真。最后对规划出的路径利用切线交点画圆法进行二次平滑处理,使得路径进一步平滑便于机器人控制。仿真结果表明,改进算法较原A*算法规划的路径远离障碍物,时间缩短16.3%,无锐角转折点,累计转折角度减少10%~20%;减少了机器人碰撞的几率,提高了路径规划效率和机器人的稳定性,以及通过狭窄区域或通道的能力。

A feature improvement on A* algorithm was proposed to solve the problems exist in the original algorithm A*,such as many turning points, unsmooth path and unadjustable posture at the inflection point under complex environments. Firstly, a virtual obstacle is placed on the edge of the obstacle to form a buffer zone. Meanwhile, the A* algorithm is improved to enlightening the search function and the simulation is carried out in static and dynamic environments. Then the generated path was smoothed by the dynamic tangent point method to further smooth the path and facilitate robot control. Simulation results show that the improved algorithm not only keep away from obstacles and reduce the searching time by 16.3% and get the path no sharp corners, but also cumulate turning angle reduced by 10%~20%,which can reduce the probability collision and improve the stability and efficiency of path planning and improve pass through narrow areas or channels.