基于一种改进A^(*)算法的智能轮椅路径规划研究

Research on Intelligent Wheelchair Path Planning Based on an Improved A^(*)Algorithm

为了解决A^(*)算法在路径搜寻中寻求更短路径而牺牲路径平滑度的问题,对A^(*)算法进行改进,用于智能轮椅的路径规划.在A^(*)代价函数值对路径曲线影响分析的基础上,引入人工势场法改进A^(*)算法,构成了新的代价函数.运用Webots仿真平台搭建家居场景,利用改进的A^(*)算法开发运动控制程序,仿真智能轮椅的室内移动.仿真实验验证了智能轮椅在室内环境中的避障功能,将改进的A^(*)算法应用于智能轮椅路径规划,可以减少路径的拐点,使转弯半径更小,路径更平滑,实现了在室内环境中从起始点到目标点的移动和动态避障.

In order to solve the problem that the A^(*)algorithm seeks a shorter path at the expense of path smoothness in path search,the A^(*)algorithm is improved for intelligent wheelchair path planning.Based on the analysis of the influence of the value of A^(*)cost function on the path curve,the artificial potential field method is introduced to improve the A^(*)algorithm and form a new cost function.The home scene is built by using Webots simulation platform,and the motion control program is developed by using the improved A^(*)algorithm to simulate the indoor movement of intelligent wheelchair.The simulation verifies the obstacle avoidance function of the intelligent wheelchair in the indoor environment.The improved A^(*)algorithm is applied to the intelligent wheelchair path planning,which can reduce the inflection point of the path,make the turning radius smaller and the path smoother,and realize the movement and dynamic obstacle avoidance from the starting point to the target point in the indoor environment.