文章摘要
李晓露* **,熊禾根* **,陶永***,李公法* **.基于改进A*算法的移动机器人全局最优路径规划[J].高技术通讯(中文),2021,31(3):306~314
基于改进A*算法的移动机器人全局最优路径规划
Global optimal path planning for mobile robots based on improved A* algorithm
  
DOI:10.3772/j.issn.1002-0470.2021.03.011
中文关键词: 改进A*算法; 移动机器人; 路径规划; 路径质量; 寻路效率
英文关键词: improved A* algorithm, mobile robot, path planning, path quality, pathfinding efficiency
基金项目:
作者单位
李晓露* **  
熊禾根* **  
陶永***  
李公法* **  
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中文摘要:
      在栅格地图环境下,传统A*算法搜索路径时选取的路径点受限于栅格中心,并且路径的转折角度固定为特定的离散值,因此存在长度非最优以及冗余转折较多的问题。为此,提出一种新启发搜索策略下的改进A*算法。在探索当前节点的每个邻域节点时,将邻域点父节点的选取范围扩大到从当前点至起始点的整个支路,采用邻域点与支路上的点直接相连的方式,找到所需真实代价G最小的安全路径,此时支路上对应的点便为该邻域点的父节点。实验结果表明,改进算法能够有效提高路径质量,即规划的路径长度更短、转折更少。与此同时,真实代价G和预估代价F之间的偏差降低,启发函数的启发能力增强,寻路效率也有所提高。
英文摘要:
      In a grid map environment, the path points selected by the traditional A* algorithm for searching a path are limited by the grid center, and the turning angle of the path is fixed to some specific discrete values, so there are problems of non-optimal length and many redundant transitions. In this paper, an improved A* algorithm under a new heuristic search strategy is proposed. When exploring each adjacent node of the current node, the selection range of the parent node of the adjacent point is expanded to the entire branch from the current point to the starting point, and adopt the way that the adjacent points are directly connected to the points on the branch road to find the safe path with the smallest real cost G. At this time, the corresponding point on the branch is the parent node of the adjacent point. Experimental results show that the improved algorithm can effectively improve the path quality, that is, the planned path length is shorter and the number of turns is less. At the same time, the deviation between the real cost G and the estimated cost F is reduced, the heuristic ability of the heuristic function is enhanced, and the pathfinding efficiency is also improved.
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