基于改进双向A*势场混合算法的灭火机器人路径规划方法研究

Research on Path Planning Method of Fire Fighting Robot Based on Improved Bidirectional A* and Potential Field Hybrid Algorithm

在灭火机器人的运行中,由于其工作环境的复杂性对机器人的路径规划提出了很高的要求,因此提出了一种改进A*算法和人工势场法相结合的路径规划算法。采用双向搜索方式的A*算法进行全局规划,解决了传统A*算法耗时长的不足。采用改进的人工势场法进行局部动态路径规划,解决了目标不可达和局部极小值问题。通过MATLAB平台,分别对改进A*算法和人工势场法进行仿真分析,结果表明混合算法有效减少规划时间并可生成更优路径。最后,在Turtlebot2移动平台上对该融合算法应用进行实验,结果表明融合算法减少了规划计算时间,使路径搜索效率和规划指标得到显著提升。

In the operation of fire fighting robot, the complexity of its working environment puts forward high requirements for the robot’s path planning, so a path planning algorithm combining improved A* algorithm and artificial potential field method is proposed. A* algorithm of bidirectional search is used for global planning, which solves the shortage of traditional A* algorithm. An improved artificial potential field method is used for local dynamic path planning, which solves the problems of unreachable target and local minimum. The improved A* algorithm and artificial potential field method are simulated and analyzed by MATLAB platform respectively. The results show that the hybrid algorithm can effectively reduce the planning time and generate a better path. Finally, the application of the fusion algorithm is tested on Turtlebot2 mobile platform, and the results show that the fusion algorithm reduces the time of planning calculation, and significantly improves the efficiency of path search and planning index.