基于一种改进A^(*)算法的移动机器人路径规划研究

Research on Path Planning of Mobile Robot Based on An Improved A^(*)Algorithm

针对在栅格地图中移动机器人规划路径问题,传统A^(*)算法容易忽略机器人实际大小,生成的路径存在与障碍物发生碰撞的可能性,提出一种拓展节点障碍物矩阵的方法。在设定机器人投影和每一个栅格大小比例关系的基础上,将每一个栅格拓展为n阶障碍物矩阵,针对栅格存在部分障碍物的情况对邻域搜索方式进行改进以提高生成路径的合理性。同时针对在复杂地形(如山地)条件下生成路径较陡峭的问题通过引入坡度信息改进代价函数计算方式,使路径更平缓。仿真结果表明:改进A^(*)算法能够通过拓展节点障碍物邻域的方法有效避免与障碍物发生碰撞,在复杂地形条件下生成的路径也更为合理。

In view of the path planning problem of mobile robot in grid map,traditional A^(*)algorithm is easy to ignore the actual size of the robot,and the generated path has the possibility of collision with obstacles.This paper proposes a method of expanding node obstacle matrix.On the basis of setting the relationship between the projection of robot and the scale of each grid,each grid was expanded to n-order obstacle matrix.In the case of the grid with obstacles,the neighborhood search method was improved to improve the rationality of generating path.At the same time,for the problem of generating steep path under the condition of complex terrain(such as mountain land),the cost function calculation method was improved from the terrain factor to make the path gentler.The simulation results show that the improved A^(*)algorithm can effectively avoid collision with obstacles by expanding the neighborhood of node obstacles,and the path generated in complex terrain conditions is more reasonable.