现代信息科技2025，Vol.9Issue(10)：176-180,185,6.DOI:10.19850/j.cnki.2096-4706.2025.10.032
基于瓦片金字塔模型的机器人路径规划算法改进
Improvement of Robot Path Planning Algorithm Based on Tile Pyramid Model
摘要
Abstract
In order to solve the problem of insufficient computing power of Autonomous Mobile Robot(AMR)on-board microcomputer in the intelligent storage environment,a method based on map segmentation is proposed.This method draws on the tile pyramid model to build a multi-resolution hierarchical model of the storage environment,and selects one of the levels as a map for fuzzy path search through a multi-objective optimization algorithm.The hierarchical map and the underlying map are used as a fuzzy path search map and a global path search map,respectively.The path search process with a huge amount of information is simplified into two search steps with less computation fuzzy path search and global path planning.By using the computing power of the AMR on-board microcomputer,the Dijkstra algorithm is used in the fuzzy path search stage,and the A* algorithm is used in the global path planning stage to find the optimal path.The simulation results show that this method improves the efficiency of the algorithm and solves the problem of independent path planning of AMR on-board computer in large-scale map environment.关键词
智慧物流/瓦片金字塔模型/路径规划Key words
intelligent logistic/tile pyramid model/path planning分类
信息技术与安全科学引用本文复制引用
孙明,赖东辰,鲁力行..基于瓦片金字塔模型的机器人路径规划算法改进[J].现代信息科技,2025,9(10):176-180,185,6.基金项目
2024年度广东省大学生创新创业训练计划项目 （）
