南京信息工程大学学报2025，Vol.17Issue(3)：340-351,12.DOI:10.13878/j.cnki.jnuist.20240415001
基于混合A∗算法的移动机器人路径规划研究
Mobile robot path planning based on hybrid A∗ algorithm
摘要
Abstract
To address the problems of insufficient smoothness and low efficiency in paths planned by the hybrid A∗algorithm,we optimize its evaluation function by introducing an angle penalty coefficient to smoothen the paths and an optimal step-length node expansion method to improve search efficiency.First,the hybrid A∗ algorithm is com-bined with the Timed Elastic Band(TEB)algorithm to generate a hybrid path planning approach.Then,the path planning process for an Ackermann steering robot is simulated using the Robot Operating System(ROS).The results show that the hybrid A∗ algorithm+DWA combination achieves a 23.83%reduction in average path planning dis-tance compared to A∗algorithm+DWA approach.Similarly,the hybrid A∗algorithm+TEB approach outperforms the A∗ algorithm+TEB,reducing the average path planning distance by 22.49%.Furthermore,the A∗ algorithm+TEB is 6.99%faster than the A∗algorithm+DWA,while the hybrid A∗algorithm+TEB is 6.25%faster than the hybrid A∗ algorithm+DWA,in terms of average path planning time.These findings demonstrate that the hybrid A∗ algo-rithm combined with TEB exhibits higher path planning efficiency and generates shorter paths,verifying its effective-ness and superiority.Finally,a path planning experiment for an Ackermann steering robot is carried out in warehouse environment.To mitigate significant deviations between the robot's actual and planned trajectories,we utilize Kalman filtering to estimate obstacle poses and track the robot's trajectory.The results show that Kalman filtering remains a tracking error within 0.2 m.关键词
混合A∗算法/TEB算法/路径规划/机器人操作系统(ROS)/卡尔曼滤波Key words
hybrid A∗ algorithm/TEB algorithm/path planning/robot operating system(ROS)/Kalman filtering分类
计算机与自动化引用本文复制引用
谢春丽,陶天艺..基于混合A∗算法的移动机器人路径规划研究[J].南京信息工程大学学报,2025,17(3):340-351,12.基金项目
黑龙江省自然科学基金(LH2021F002) （LH2021F002）
