舰船电子工程2025，Vol.45Issue(5)：43-47,141,6.DOI:10.3969/j.issn.1672-9730.2025.05.010
基于测试点约束的移动机器人全局路径规划技术
Global Path Planning Technology for Mobile Robots Based on Test Point Constraints
祝大程 1李文海 2孙伟超 2李根2
作者信息
- 1. 海军航空大学 烟台 264001||92229部队 琼海 571400
- 2. 海军航空大学 烟台 264001
- 折叠
摘要
Abstract
Aiming at the problem that the mobile robot needs to autonomously plan the path and navigate to each test point in turn during intelligent testing and the traditional A*algorithm plans more inflection points due to the many obstacles in the testing environment,this paper proposes a global path planning algorithm based on the constraints of the test points,which first improves the A*algorithm,optimizes the evaluation function,and adopts a redundant point removal strategy on the paths obtained to make the paths smoother.Then based on the improved A*algorithm,the shortest path between each key point is calculated,and the se-lected path is iteratively optimized by genetic algorithm to finally obtain the optimal path through each test point.Simulation experi-ments show that the method has good performance in both solution quality and solution speed.关键词
全局路径/测试点约束/A*算法/遗传算法Key words
global paths/test point constraints/A*algorithm/genetic algorithm分类
信息技术与安全科学引用本文复制引用
祝大程,李文海,孙伟超,李根..基于测试点约束的移动机器人全局路径规划技术[J].舰船电子工程,2025,45(5):43-47,141,6.
