湖南大学学报（自然科学版）2017，Vol.44Issue(4)：94-101,8.DOI:10.16339/j.cnki.hdxbzkb.2017.04.013
基于一种改进A*算法的移动机器人路径规划
Mobile Robot Path Planning Based on an Improved A * Algorithm
摘要
Abstract
An improved A * algorithm was presented for global path planning of mobile robot.Firstly,the environment model was described using the grid method,and the preliminary path was obtained by traditional A * algorithm.Secondly,the path planned by A * method was flaw with much redundant points,large path length,and turning angle.The original path was partitioned by tiny step to obtain a series of path point.The finish point from the start point was connected by using straight line in sequence.To decrease the path length and turning angle,the path node can be removed if there are no obstacles on the line.The analysis and comparison between the proposed algorithm,traditional A * algorithm and another improved A * method were then given in the simulation experiment and physical experiments.Additionally,the merits of the proposed algorithm and other algorithms were compared when the obstacle rate,amount of task point,and step length were different.The experiment results show that the proposed algorithm effectively reduces the path length and turning angle.关键词
移动机器人/路径规划/A*算法/栅格法Key words
mobile robot/path planning/A * algorithm/grid method分类
信息技术与安全科学引用本文复制引用
孙炜,吕云峰,唐宏伟,薛敏..基于一种改进A*算法的移动机器人路径规划[J].湖南大学学报（自然科学版）,2017,44(4):94-101,8.基金项目
国家科技支撑计划项目(2015BAF11B01),National Science and Technology Support Program(2015BAF11B01) （2015BAF11B01）
高等学校博士学科点专项科研基金资助项目(20130161110009),Specialized Research Fund for the Doctoral Program of Higher Education of China(20130161110009) （20130161110009）
湖南省自然科学基金资助项目(14JJ1011),National Natureal Science Foundation of Hunan Province (14JJ1011) （14JJ1011）
