计算机工程与应用2025，Vol.61Issue(20)：123-131,9.DOI:10.3778/j.issn.1002-8331.2407-0429
智能土壤采样机改进A*算法路径规划
Improved A*Algorithm Path Planning of Intelligent Soil Sampler
葛杏卫 1苏浩冉 1张凯亮 1赵月静 1秦志英1
作者信息
- 1. 河北科技大学 机械工程学院,石家庄 050000
- 折叠
摘要
Abstract
Intelligent soil sampler is a kind of efficient equipment for soil sampling.In order to solve the problem of effi-ciency and safety of path planning in unknown environment,an improved A* algorithm is proposed.Firstly,a dynamic weight coefficient is introduced to the evaluation function to reduce the number of search nodes.Secondly,the traditional 8 neighborhood search is reduced to 5 neighborhood search,and the redundant search direction is removed.Thirdly,the radius of the car body is defined and the anti-collision treatment is carried out to optimize the safety performance.Finally,Bessel curve is used to smooth the path.The simulation results show that compared with the traditional A*algorithm,the improved A*algorithm can reduce the average number of search nodes by 83.66%and the average search time by 56.61%.The accuracy and efficiency of the improved A*algorithm in practical path planning are verified by the experiment of mobile robot in real environment.关键词
智能土壤采样机/A*算法/路径规划/五点采样法/动态权重/贝塞尔曲线平滑Key words
intelligent soil sampling machine/A* algorithm/path planning/five-point sampling method/dynamic weight/Bessel curve smoothing分类
信息技术与安全科学引用本文复制引用
葛杏卫,苏浩冉,张凯亮,赵月静,秦志英..智能土壤采样机改进A*算法路径规划[J].计算机工程与应用,2025,61(20):123-131,9.
