计算机工程与应用2025，Vol.61Issue(20)：132-145,14.DOI:10.3778/j.issn.1002-8331.2501-0092
改进A*与APF的移动机器人路径规划算法研究
Research on Improving A*and APF Algorithms for Mobile Robot Path Planning
摘要
Abstract
Aiming at the problems of limited search efficiency and insufficient dynamic obstacle avoidance ability of A*path planning algorithm in complex environments,a path planning method combining improved A*algorithm and artifi-cial potential field method is proposed.Firstly,the static obstacles are preprocessed to obtain visual passage nodes,and then the search mechanism of triangle boundary and three neighborhood is established in the open area and the obstacle area respectively,and the global path planning is realized based on the bidirectional alternating search strategy.Secondly,the global path is discretized into equally spaced trajectory points,and the influence area of dynamic obstacles on the trajectory line is modeled as an ellipse area by introducing the artificial potential energy function.The distance between the robot and the nearest trajectory point in the forward direction is used as the correction factor of the repulsion function,and the resultant force direction between the robot and the attraction of the trajectory point in the forward direction is used as the collision avoidance direction of the robot,and the local obstacle avoidance is achieved.The simulation results show that compared with the traditional bidirectional A* algorithm,the search time of the proposed algorithm is reduced by 96%,and the number of traversed nodes is reduced by 82.28%.The robot moves along the global optimal path while avoiding obstacles,which verifies the effectiveness of the algorithm.关键词
移动机器人/路径规划/改进A*算法/APF算法/动态避障Key words
mobile robot/path planning/improve A* algorithm/artificial potential field(APF)algorithm/dynamic obstacle avoidance分类
信息技术与安全科学引用本文复制引用
冯泽鹏,李宗刚,夏广庆,陈引娟..改进A*与APF的移动机器人路径规划算法研究[J].计算机工程与应用,2025,61(20):132-145,14.基金项目
国家自然科学基金(61663020) （61663020）
大连理工大学工业装备结构分析国家重点实验室开放课题(ZG22119) （ZG22119）
甘肃省高等学校产业支撑计划项目(2022CYZC-33). （2022CYZC-33）
