基于A^(*)算法的搬运机器人路径规划优化

Optimization of transfer robot path planning based on A^(*) algorithm

随着现代物流的不断发展,搬运机器人被越来越多的公司广泛运用。合理地安排搬运机器人的运输路径是降低运输成本、减少运输时间的关键。A^(*)算法是一种常见的搬运机器人路径规划算法,然而当物流工厂内部空间很大时,A^(*)算法的效率会显著下降。文中针对有若干障碍物的工厂路径规划中A^(*)算法存在的问题,提出一种改进型A^(*)算法应用于工厂中实际的搬运机器人路径规划。通过改变总代价计算公式来减少移动路径的长度和转弯次数,引入五点三次平滑法使得移动路径更加平滑,采用前后同时寻路策略进一步优化路径。最后,文中还采用改进型A^(*)算法对搬运机器人路径规划问题进行实验,实验结果表明,提出的改进算法可以明显提升整体效率,尤其是在不规则障碍物平面图上能够使规划路径缩短近50%。该算法可以帮助指导实际的物流公司改进搬运机器人的路径规划,从而降低搬运机器人的搬运时间和能源消耗。

With the continuous development of modern logistics,transfer robots are widely used by more and more companies.It is the key to reduce the transportation cost and the transportation time to reasonably arrange the transportation path of the transfer robot.The A^(*)algorithm is a common path planning algorithm for the transfer robot.However,when the internal space of the logistics site is large,the efficiency of the A^(*)algorithm will decrease significantly.An improved A^(*)algorithm is proposed and applied to the actual path planning of the transfer robot in the logistics site to solve the problem of A^(*)algorithm in the path planning of the site with several obstacles.The length of the moving path and the times of turning path are reduced by changing the total cost calculation formula.The moving path is made smoother by introducing the five⁃point cubic smoothing method.The path is further optimized by adopting the front and back simultaneous path⁃finding strategy.The improved A^(*)algorithm was also used in an experiments for path planning of transfer robots.The experimental results show that the proposed algorithm can significantly improve the overall efficiency,especially for the planning of path with irregular obstacles,and it can shorten the planned path by nearly 50%.This algorithm can help to guide the logistics companies to improve the path planning of transfer robots,so as to reduce the transportation time and energy consumption of transfer robots.