融合改进A^(*)和时间弹性带的移动机器人路径规划算法

Mobile robot path planning algorithm integrating improved A^(*)algorithm and time elastic band

针对移动机器人在路径规划中使用A^(*)算法规划的路径不平滑及无法实时避障的问题,提出一种分层路径规划方法,将改进的A^(*)算法与时间弹性带(Timed Elastic Band,TEB)算法融合。首先,在A^(*)算法中,引入梯度下降的思想,减少路径中的转折点,使路径更平滑;其次,在TEB算法中,加入路径点与TEB轨迹位姿点的约束,使其规划的路径更好地遵循全局路径;最后,将改进的A^(*)算法与TEB算法相结合,使TEB算法沿着全局最优路径进行动态路径规划,从而实时躲避未知的障碍物。仿真实验的结果表明:改进A^(*)算法可减少93.69%的转折点,同时能缩短0.9%的路径长度,改进后的TEB算法能减少偏离全局路径的程度,两者融合后能够有效躲避未知障碍物。

Aiming at the problem that the path planned by mobile robot using A^(*)algorithm is not smooth and can not avoid obstacles in real time,a hierarchical path planning method is proposed,which integrates the improved A^(*)algorithm with the time elastic band(TEB)algorithm.Firstly,in the A^(*)algorithm,the idea of gradient descent is introduced to reduce the turning points in the path and make the path smoother;secondly,in the TEB algorithm,the constraints of path points and TEB trajectory pose points are added to make the planned path follow the global path in a better way;finally,the improved A^(*)algorithm is combined with TEB algorithm to make TEB algorithm carry out dynamic path planning along the global optimal path,so as to avoid unknown obstacles in real time.The simulation results show that the improved A^(*)algorithm can reduce the turning point by 93.69%and the path length by 0.9%.The improved TEB algorithm can reduce the degree of deviation from the global path,and the fusion of the two can effectively avoid unknown obstacles.