改进A*算法的移动机器人全局路径规划研究

Research on Global Path Planning of Mobile Robot Based on Improved A*AlgorithmResearch on Improved A*Algorithm Based on Real-Time and Security

针对传统A*算法在全局路径规划时存在实时性差与安全性不足的缺陷,提出融合JPS与安全权重方阵的改进A*算法对移动机器人的路径进行优化。将传统A*算法融合JPS选取跳点思想,减少路径规划过程中选取扩展节点需要计算的节点数量,提升算法实时性;在寻路过程中增加安全权重方阵思想,通过计算其安全系数与障碍物因子来更新函数代价值,使机器人与障碍物保持相应距离,提升算法安全性。最后利用不同大小的栅格地图进行仿真,结果证明,提出的融合JPS与安全权重方阵的改进A*算法在保持寻路搜索效率更高的前提下,也能保证路径轨迹更安全。

Aiming at the shortcomings of traditional A*algorithm in global path planning,such as poor real-time performance and insufficient security,an improved A*algorithm combining JPS and security weight matrix is proposed to optimize the path of mobile robot.The traditional A*algorithm was combined with the idea of selecting hop points in JPS to reduce the number of nodes to be calculated when selecting extended nodes in the path planning process and improve the real-time performance of the algorithm;In the process of path finding,the idea of safety weight square matrix was added,and the function generation value was updated by calculating its safety coefficient and obstacle factor,so that the robot can maintain a corresponding distance from the obstacle and improve the security of the algorithm.Finally,the simulation was carried out using grid maps of different sizes.The results show that the proposed improved A*algorithm combining JPS and security weight square matrix can also ensure a safer path path while maintaining a higher efficiency of path-finding search.