[1]陈小利,赵　迪,王熊锦.基于改进 A? 算法的越障平台路径规划研究[J].湖北工业大学学报,2024,39(1):18-22.
　CHEN Xiaoli,ZHAO Di,WANG Xiongjin.Research on Path Planning of Obstacle Crossing Search and Rescue Platform Based on Improved A* Algorithm[J].,2024,39(1):18-22.
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基于改进 A? 算法的越障平台路径规划研究()
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《湖北工业大学学报》[ISSN:1003-4684/CN:42-1752/Z]

卷:
39
期数:
2024年第1期
页码:
18-22
栏目:
出版日期:
2024-02-20

文章信息/Info

Title:
Research on Path Planning of Obstacle Crossing Search and Rescue Platform Based on Improved A* Algorithm
文章编号:
1003-4684(2024)01-0018-05
作者:
陈小利; 赵　迪; 王熊锦
(湖北工业大学机械工程学院,湖北 武汉 ４３００６８)
Author(s):
CHEN Xiaoli;  ZHAO Di;  WANG Xiongjin
(School of Mechanical Engineering, Hubei Univ. of Tech., Wuhan 430068, China)
关键词:
越障平台; 路径规划; A? 算法; B样条曲线
Keywords:
obstacle crossing platform;  route planning;  A* algorithm;  Bspline curve
分类号:
TH122
文献标志码:
A
摘要:
针对传统方法构建的栅格地图无法准确体现搜救平台具备越障能力的局限性,将实际环境划分为障碍区、越障通行区和无障碍区,依照通行权重建立了包含３类环境特征的二维栅格地图.考虑到越障平台在越障过程中转向不便的局限,针对性提出了一种改进的 A? 算法,将路径转弯次数和转弯角度作为代价评估函数的一部分,对算法进行优化.将传统 A? 算法和改进的 A? 算法进行对比试验,实验结果表明:与传统算法相比,改进算法规划的路径、寻路代价有所改善,路径长度、转弯次数和转弯角度均大幅减少,更适用于具备越障能力的搜救平台.
Abstract:
In view of the limitation that the grid map constructed by the traditional method can not accurately reflect the obstacle crossing ability of the search and rescue platform, this paper divides the actual environment into obstacle area, obstacle crossing traffic area and barrier free area, and establishes a twodimensional grid map containing three types of environmental characteristics according to the traffic weight. Considering the limitation of inconvenient turning of obstacle crossing platform in the process of obstacle crossing, this paper proposes an improved A* algorithm, which optimizes the algorithm by taking the number of path turns and turning angle as part of the cost evaluation function. Finally, the traditional A* algorithm and the improved A* algorithm are compared. The experimental results show that compared with the traditional algorithm, the path planning cost of the improved algorithm is improved, and the path length, turning times and turning angle are greatly reduced. It is more suitable for the search and rescue platform with obstacle crossing ability.

参考文献/References:

[１]　马小陆,梅宏,龚瑞,等．基于改进 ACS算法的移动机器人路径规划研究[J]．湖南大学学报(自然科学版),２０２１,３３６(１２):７９Ｇ８８．[２]　杨俊成,李淑霞,蔡增玉．路径规划算法的研究与发展[J]．控制工程,２０１７,２４(０７):１４７３Ｇ１４８０．[３]　秦玉鑫,王红旗,杜翠杰．基于双层 A? 算法的移动机器人路径规划[J]．制造业自动化,２０１４,３６(２４):２１Ｇ２５．[４]　霍凤财,迟金,黄梓健,等．移动机器人路径规划算法综述[J]．吉林大学学报(信息科学版),２０１８,３６(０６):６３９Ｇ６４７．[５]　杨兴,张亚,杨巍,等．室内移动机器人路径 规 划 研 究[J]．科学技术与工程,２０１６,１６(１５):２３４Ｇ２３８．[６]　程传奇,郝向阳,李建胜,等．融合改进 A? 算法和动态窗口法的全局动态路径规划[J]．西安交通大学学报,２０１７,５１(１１):１３７Ｇ１４３．[７]　张敬寒,陶兆胜,彭澎,等．基于扩大搜索邻域 A? 算法的平滑路径 规 划 [J]．长 春 理 工 大 学 学 报 (自 然 科 学版),２０１８,４１(０６):１２４Ｇ１２７．

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备注/Memo

备注/Memo:
[收稿日期]２０２２- ０３- ０４[基金项目]军队后勤科研国家级项目(BS３１８J００９)[第一作者]陈小利(１９９７－),男,湖北荆门人,湖北工业大学硕士研究生,研究方向为智能机器人.[通信作者]赵　迪(１９８１－),男,湖北武汉人,湖北工业大学副教授,研究方向为机械设计及理论、智能机器人、虚拟现实.
更新日期/Last Update: 2024-03-13