轻工机械2025，Vol.43Issue(5)：58-67,10.DOI:10.3969/j.issn.1005-2895.2025.05.008
A*算法和进化策略相融合的路径规划
Path Planning Based on Integration of A*Algorithm and Evolutionary Strategy
摘要
Abstract
A path planning method based on the integration of A * algorithm and evolutionary strategy was proposed to address the problem of poor path planning performance when using traditional A * algorithm to generate basic paths for Automated Guided Vehicles(AGV),which ignored factors such as robot volume and turning radius in dense obstacle environment.A* algorithm was used to generate a basic path and then redundant nodes were removed by nodes optimization.By considering constraints such as obstacle collision risk and path width,spline curves were interpolated to construct the initial optimized path.Subsequently,evolutionary strategy was integrated to iteratively optimize the path,using penalty functions to fully account for turning radius,path width,and obstacle avoidance constraints.The improved path planning method directly iterated on the spline curve path,avoiding the complexity and uncertainty of post-smoothing processes,making the path more compatible with the motion characteristics of AGV.Simulation results demonstrats that the proposed method can reduce the actual path length and improve path safety and smoothness,validating its effectiveness.This approach establishes a general optimization framework by integrating other intelligent algorithms with A* algorithm,enabling more efficient path planning through direct iterative optimization of spline paths.关键词
自动导引车/路径规划/A*算法/进化策略/样条曲线路径/罚函数Key words
AGV/path planning/A* algorithm/evolutionary strategy/spline curve path/penalty function分类
信息技术与安全科学引用本文复制引用
杨航,栗淼楠,蔚佳俊..A*算法和进化策略相融合的路径规划[J].轻工机械,2025,43(5):58-67,10.基金项目
山西省高等学校教学改革创新项目(J20241480) （J20241480）
山西省省级大学生创新创业训练计划项目(TYX2024039). （TYX2024039）
