机械科学与技术2025，Vol.44Issue(3)：530-537,8.DOI:10.13433/j.cnki.1003-8728.20230209
一种用于Mecanum底盘的自适应路径规划算法
An Adaptive Path Planning Algorithm for Mecanum Wheels Chassis
摘要
Abstract
In order to solve the problem of optimal path planning of Mecanum wheels automated guided vehicle(AGV)in a narrow and complex working environment,an improved A* algorithm based on the kinematic model of Mecanum wheels chassis was proposed.Firstly,the Mecanum wheels AGV was equivalent to a two-dimensional minimum bounding rectangle,and its omni-directional movement characteristics were used to design the path search strategy.Secondly,in order to improve the safety of the planned path,an extended model obstacle avoidance matrix was constructed according to the characteristics of the model.Finally,two-dimensional Gaussian kernel function was introduced to adaptively adjust the weight coefficients of the actual cost function and heuristic estimation cost function of the algorithm,so as to balance the global and fast search.The simulation results demonstrate that the improved algorithm is better than the common algorithm in search time and safety performance,and improves the ability of Mecanum wheels AGV to pass through narrow space or turn dead corner,and enhances the path search efficiency.关键词
麦克纳姆轮/A*算法/外接矩形/拓展模型避障矩阵/二维高斯核函数Key words
mecanum wheels/A* algorithm/bounding rectangle/extended model obstacle avoidance matrix/two-dimensional Gaussian kernel function分类
信息技术与安全科学引用本文复制引用
黄晓宇,孙勇智,李津蓉,刘薇,李恒通..一种用于Mecanum底盘的自适应路径规划算法[J].机械科学与技术,2025,44(3):530-537,8.基金项目
国家自然科学基金项目(62173306)与教育部产学合作协同育人项目(201901014014) （62173306）
