计算机工程与科学2012，Vol.34Issue(11)：141-147,7.DOI:10.3969/j.issn.1007-130X.2012.11.025
未知环境下基于A*的机器人路径规划算法
Robot Path Planning Algorithm Based on A* in Unknown Environment
摘要
Abstract
This paper presents a new robot path planning algorithm based on the basic A+ . Adopting the TWICE-PATH-PLANNING strategy, the robot can re-plan its path effectively when falling across an unknown obstacle in the given environment; adopting the CHILD-NODE-GENERATION strategy based on priority value , the path planner can better deal with the width information of the robot. The new algorithm is proposed based on the above two strategies. In the end, the experimental results show the validity and reliability of the algorithm in both MobileSim simulator and Pioneer P3DX real-world robot. This new algorithm extends the original application regions, improves the intelligence of the robot, and enhances the real-time path planning ability of the robot.关键词
机器人/路径规划/A*算法/路径重规划/Pioneer P3DXKey words
robot/path planning/A* algorithm/path replanning/Pioneer P3DX分类
信息技术与安全科学引用本文复制引用
张紫辉,熊岳山..未知环境下基于A*的机器人路径规划算法[J].计算机工程与科学,2012,34(11):141-147,7.基金项目
国家自然科学基金资助项目(60773022) （60773022）
高等学校博士点专项基金(20104307110003) （20104307110003）
全军医药卫生科研项目子课题(10MA025-FS006) （10MA025-FS006）
