河北科技大学学报2024，Vol.45Issue(6)：653-661,9.DOI:10.7535/hbkd.2024yx06010
基于改进A*算法的建筑机器人路径规划研究
Research on path planning for construction robots based on improved A*algorithm
摘要
Abstract
An improved A*algorithm was proposed to address the problem of planning a safe and obstacle-free path for construction robots on construction sites.Firstly,by optimizing the search point selection strategy of the A*algorithm,on the basis of the 8-neighborhood node search used in the traditional algorithms,it was extended to 24-neighborhoods for search and partially discarded.At the same time,obstacles were inflated to leave enough safe distance to avoid collisions during motion.Then,the heuristic function in the evaluation function was improved by introducing the obstacle ratio K.Finally,for the inflection points in the path,Bezier curves were used to smooth the path and improve its continuity.The experimental simulation results show that the search node count,path length,and planning efficiency of improved A*algorithm are higher than those of traditional A*algorithm,and the path is smoother.The proposed algorithm effectively improves the search efficiency of paths and enhances the feasibility of global routes for construction robots,providing reference for path planning of construction robots.关键词
机器人控制/建筑机器人/路径规划/膨胀处理/A*算法/贝塞尔曲线Key words
robot control/construction robot/route planning/swelling treatment/A*algorithm/Bezier curve分类
信息技术与安全科学引用本文复制引用
吴振帅,任天飞,李佳晖,马艺颖,商成,任有志..基于改进A*算法的建筑机器人路径规划研究[J].河北科技大学学报,2024,45(6):653-661,9.基金项目
国家自然科学基金(12402427,12402454) （12402427,12402454）
河北省重点研发计划(23311803D) （23311803D）
