重庆理工大学学报2026，Vol.40Issue(7)：11-18,8.DOI:10.3969/j.issn.1674-8425(z).2026.04.002
改进双向A∗算法的碰撞规避路径规划研究
Research on collision avoidance path planning by improving the bidirectional A∗ algorithm
摘要
Abstract
Indoor service robots often require long path planning time and exhibit dangerous behaviors such as approaching or diagonally traversing obstacles during navigation.To address these issues,this paper proposes a path planning method integrating bidirectional search with collision avoidance.First,the bidirectional search method is employed to reduce the search time of A∗ algorithm.Then,the heuristic function is improved by introducing an environmental obstacle rate,defined as the obstacle occupancy ratio in the workspace,to adaptively adjust weight coefficients.Next,a safety distance constraint is introduced for collision avoidance to prevent robots from diagonally traversing obstacles.The path is further optimized via polyline simplification,reducing both the number of nodes and the total length of polyline segments.Moreover,Bezier curves smoothing is applied to optimize path turns,thereby enhancing motion stability.Finally,experiments are conducted in Matlab to compare the proposed algorithm with the conventional A∗algorithm.Results show the path length is reduced by 5.2％and 3.9％,the search time by 56.4％and 55.9％,turning angles by 39.4％and 28.8％,and the number of traversed nodes by 71.8％and 68.3％.关键词
路径规划/双向A∗算法/碰撞规避/贝塞尔曲线Key words
path planning/bidirectional A∗ algorithm/collision avoidance/Bezier curve分类
信息技术与安全科学引用本文复制引用
穆春阳,刘星雨,马行,张春涛..改进双向A∗算法的碰撞规避路径规划研究[J].重庆理工大学学报,2026,40(7):11-18,8.基金项目
国家自然科学基金项目(62441303) （62441303）
宁夏自然科学基金项目(2024AAC03187) （2024AAC03187）
北方民族大学重点科研项目(2023ZRLG10) （2023ZRLG10）
宁夏自治区第七批科技创新领军人才培养工程项目(2021GKLRLX08) （2021GKLRLX08）
