智能系统学报2013，Vol.8Issue(1)：58-65,8.DOI:10.3969/j.issn.1673-4785.201208032
一种基于改进Theta*的机器人路径规划算法
A path planning algorithm based on improved Theta* for mobile robot
摘要
Abstract
Current research indicates the Theta * algorithm has improved in terms of solving the path planning for a mobile robot. First, the repulsion, which is generated by the obstacles to the robot, has been added to the heuristic function as a penalty function. Based on reasonably choosing the weight of the penalty function, the heuristic function was also identified. Due to this, the Theta* algorithm, a variant of A* algorithm, was improved, thereby creating a smooth route for the PS_Theta* algorithm. In the end, a test was conducted and analyzed, not only in the 2-D coordination simulated environment but also in the 3-D complex environment, and the data validated the algorithm reasonably and effectively.关键词
机器人/路径规划/启发函数/A*算法/Theta*算法/PS_Theta*算法Key words
mobile robot/ path planning/ heuristic function/ A* algorithm/ Theta* algorithm/ PS_Theta* algorithm分类
信息技术与安全科学引用本文复制引用
肖国宝,严宣辉..一种基于改进Theta*的机器人路径规划算法[J].智能系统学报,2013,8(1):58-65,8.基金项目
国家自然科学基金资助项目(61175123) （61175123）
福建省省属高校科研专项重点项目(JK2009006) （JK2009006）
福建省高校服务海西建设重点项目. （）
