强激光与粒子束2025，Vol.37Issue(6)：163-170,8.DOI:10.11884/HPLPB202537.240360
面向大型激光装置集成安装的机器人自动路径规划
Automatic path planning of robot for integrated installation of large laser device
摘要
Abstract
A simple and effective improved A* algorithm is proposed to solve the problem of robot path planning in the integrated installation of large-scale laser devices.Compared with the traditional A* algorithm,the algorithm has been improved in three steps.Firstly,the walking direction is limited,which avoids the phenomenon of crossing obstacles occurred in the traditional A*algorithm;Secondly,the heuristic function is optimized as a weighted Manhattan distance function,which accelerates the expansion of nodes in thex direction or y direction,and reduces the surge of traversal nodes caused by limiting the walking direction.Thirdly,the turning penalty term is introduced to reduce the number of turns in the path planning process,and improve the search efficiency and quality.The performance of the three-step improved A*algorithm is verified in different size raster maps,and compared with the traditional A*algorithm.Experimental results show that in simple maps,the number of nodes traversed by the three-step improved A* algorithm is slightly higher than that of the traditional A* algorithm,and the number of turns is equivalent to that of the traditional A*algorithm,but the obstacle avoidance performance is obviously better than that of the traditional A*algorithm,which is more conducive to the safe walking of robots.In complex maps,considering the priority relationship of traversal nodes,turn times and path length,the parameters of the three-step improved A*algorithm can be adjusted to obtain the optimal path planning result.关键词
路径规划/A*算法/限制可行走方向/加权曼哈顿距离/转弯惩罚项Key words
path planning/A*algorithm/limiting the walking direction/weighted Manhattan distance/turning penalty term分类
信息技术与安全科学引用本文复制引用
陈静,独伟锋,裴国庆,熊召,杨科,周海..面向大型激光装置集成安装的机器人自动路径规划[J].强激光与粒子束,2025,37(6):163-170,8.基金项目
四川省科技计划项目(2022ZYD0114) （2022ZYD0114）
