摘要
将栅格法与路径搜索A*算法思想进行有效结合,改进A*算法采用多个栅格包络障碍物方式,利用顶点外延节点生成路径来构造连通图。在此基础上,引入平滑度概念,将算法应用于二维空间进行机器人路径规划,提高算法搜索效率。实验结果表明,与A*算法相比,改进后的算法能有效壁障,减少路径规划耗时。
The grid method and A ＊ algorithm are effectively combined, and improved A ＊ algorithm uses multiple grids to envelope obstacles, and then path points are generated as obstacle vertices＇ extension to construct connected graph. On this basis, the concept of smoothness is included, the algorithm is applied to the two-dimensional space for robot path planning to improve search efficiency. The experimental results show that compared with the A ＊ algorithm, the improved algorithm can effectively avoid obstacles, reducing time-consuming of path olanning.
出处
《信息技术》
2015年第9期40-42,共3页
Information Technology
基金
陕西省计算机科学与技术研究项目(2010JM3020)
安康学院高层次人才项目专项(AYQDZR201204
AYQDZR201203)
安康学院教材建设基金项目(Jc201307)
关键词
路径规划
A＊算法
栅格法
平滑度
path planning
A＊ algorithm
grid method
smoothness
