基于改进A*算法的物流机器人算法研究

Research on algorithm of logistics robot based on improved A*algorithm

针对传统A*算法实现过程中存在转弯次数过多、路径搜索长度过长等缺点,提出一种改进A*算法。通过对启发函数的计算方式进行改进,提高了路径搜索质量,同时引入转弯惩罚来降低规划过程中转弯次数,最后删除路径中冗余节点,得到一条最优路径。通过Matlab进行验证,改进算法相对于传统算法在路径长度上缩短了6.8%,在转弯次数和转弯总角度上分别提高66.66%和80.5%。

In view of the shortcomings of traditional A*algorithm,such as too many turns and too long path search time,an improved A*algorithm is proposed.By improving the calculation method of the heuristic function,the search quality of the path is improved,and the turning penalty is introduced to reduce the number of turns in the planning process.Finally,the redundant nodes in the path are deleted to obtain an optimal path.Through Matlab verification,compared with the traditional algorithm,the improved algorithm shorts the path length by 6.8%,and increases the number of turns and the total Angle by 66.66%and 80.5%respectively.