计算机工程与应用2019，Vol.55Issue(21)：226-232,269,8.DOI:10.3778/j.issn.1002-8331.1905-0213
基于改进A*算法的移动机器人路径规划研究
Research on Mobile Robot Path Planning Based on Improved A*Algorithm
摘要
Abstract
A*algorithm is widely used in path planning of mobile robots. However, there are many problems of the tradi-tional A* algorithm such as long search time and low efficiency. Therefore, two-way search algorithm is presented to improve the traditional A* algorithm. The algorithm can search both positive and negative paths during the process of path planning simultaneously. The alternating mechanism of forward and backward searches can be used, and it has a good performance. The final target node is searched and meets in the midpoint area of the connection, and the calculation time of path finding can be reduced. Simulation experiments of the improved A* algorithm can be carried out on the MATLAB platform, and the result shows that the two-way A* algorithm can reduce planning time and generate the optimal path. This algorithm can be applied on Turtlebot 2 mobile platform based on open source robotic operating system. Field experiments show that the bidirectional A*algorithm can reduce the calculation time of path finding. Thus the efficiency of path searching can be improved, and the planning path is reasonable for the requirements of path planning significantly.关键词
移动机器人/路径规划/A*算法/双向搜索/机器人操作系统Key words
mobile robot/path planning/A*algorithm/bidirectional search/robot operating system分类
信息技术与安全科学引用本文复制引用
吴鹏,桑成军,陆忠华,余双,方临阳,张屹..基于改进A*算法的移动机器人路径规划研究[J].计算机工程与应用,2019,55(21):226-232,269,8.基金项目
国家自然科学基金面上项目(No.51875053) （No.51875053）
江苏省高等学校自然科学研究面上项目(No.18KJB413001) （No.18KJB413001）
常州市科技计划(No.CJ20180034) （No.CJ20180034）
科技部重点研发计划项目(No.2018YFC1903101). （No.2018YFC1903101）
