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在由栅格法构建的环境地图中,利用A~*算法进行路径搜索时存在搜索范围广、搜索速度慢、路径曲折等问题.针对栅格地图及具有四向移动机器人的特点,从搜索方向、启发函数构建、机器人加减速以及转向成本等几个方面对A~*算法进行研究和改进,提出一种基于启发信息的扩展节点算法,降低偏离最佳路径节点的扩展数量.改进后的A~*算法平均可降低67.1%的搜索面积、49.2%的计算时长、24.9%的路径成本及减少51.1%的转向次数,提高了路径的搜索速度和平滑度.
In the environment map constructed by raster method, there are many problems such as wide search range, slow search speed and tortuous path when using the A ~ * algorithm for path search.Aiming at the characteristics of the grid map and the four-direction moving robot, , Heuristic function building, robot acceleration and deceleration and steering cost, the A * algorithm is studied and improved, and an extended node algorithm based on heuristic information is proposed to reduce the number of nodes deviating from the optimal path. The improved algorithm can reduce search area by 67.1%, computation time by 49.2%, path cost by 24.9% and steering by 51.1% on average, improving search speed and smoothness of path.