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实际机器人路径规划问题经常需要考虑路径的转弯约束以及路径起始/目标角要求,为此提出一种基于方向约束的A~*算法.新算法区分同一路径点处不同方向的各条路径,通过定向扩展机制来满足路径方向约束,并采用节点合并策略和不一致队列降低算法复杂度.理论分析和典型地图集上的实验结果证明,所提算法总是能够保证给出符合转弯约束和起始/目标角约束的最短路径,且相比于现有算法,能够有效提高方向约束路径规划问题的求解能力.
Actually, robot path planning often needs to consider the turning constraints of the path as well as the path start / target angle requirements. To solve this problem, a direction-constrained A * algorithm is proposed. The new algorithm distinguishes each path in different directions at the same path, Oriented expansion mechanism to satisfy the constraint of path direction and reduce the complexity of the algorithm by using node merge strategy and inconsistent queue.Theoretical analysis and the experimental results on a typical atlas show that the proposed algorithm can always ensure that the proposed algorithm meets the constraints of turn and start / Compared with the existing algorithms, it can effectively improve the ability of solving the path constrained path planning problem.