摘要
针对传统路径规划A^(*)算法搜索速度慢,且所得路径转角过大的问题,提出了一种基于双向搜索的A^(*)路径规划算法。首先调整A^(*)搜索算法的整体搜索方向为双向搜索,初步提升搜索速度;其次,在规划过程中引入动态权重系数来调节启发式函数,通过平衡路径长短与规划速度之间的关系,进一步提高搜索速度;最后采用B样条曲线对所规划的路径进行平滑优化,解决A^(*)算法规划路径转角过多无法满足移动机器人实际运动控制的问题。仿真实验结果表明,相比传统的A^(*)算法,该算法在搜索节点和规划时间方面分别平均减少79.24%和62.56%。
Aiming at the problem that the traditional path planning A^(*)algorithm has slow search speed and the resulting path turning angle too large,an A^(*)path planning algorithm based on bidirectional search is proposed.Firstly,the overall search direction of A^(*)search algorithm is adjusted to bidirectional search to initially improve the search speed.Secondly,dynamic weight coefficients are introduced in the planning process to adjust the heuristic function to further improve the search speed by balancing the relationship between path length and planning speed.Finally,B-spline curve is used to smooth and optimize the planned paths to solve the problem that the A^(*)algorithm planning paths with too many turning angles cannot meet the actual motion control.The results of simulation experiments show that compared with the traditional A^(*)algorithm,the algorithm in this paper reduces the search nodes and planning time by 79.24%and 62.56%,respectively.
作者
陈家伟
许颖婷
陈淑婧
张霖
蔡志明
CHEN Jiawei;XU Yingting;CHEN Shujing;ZHANG Lin;CAI Zhiming(School of Electronic,Electrical Engineering and Physics,Fujian University of Technology,Fuzhou 350118,China;National Demonstration Center for Experimental Electronic Information and Electrical Technology Education,Fujian University of Technology,Fuzhou 350118,China)
出处
《现代信息科技》
2024年第2期86-91,共6页
Modern Information Technology
基金
福建工程学院校科研启动基金(GY-Z21064)。
