摘要
针对A*算法在全局路径规划中存在折线多、转折次数多、累计转折角大的缺点,提出一种可变参数Bézier曲线的改进A*算法--BCA*(Bézier Curve of A*)算法。在传统A*算法基础上,对各节点均匀分割,获得一系列路径节点坐标,通过删除中间多余节点缩短规划路径,最后利用可变参数Bézier曲线对路径拐点进行曲线化,规划出一条光滑且更短路径。仿真和Turtlebot2机器人实验结果表明,上述算法相对传统A*算法路径长度减少20.75%,解决了转角问题,机器人运行时间缩短43.28%。
For the A* algorithm, there are disadvantages that too many polylines, turning points and large accumulated turning angles exist in the planning path. In this paper, an improved A* algorithm of variable parameter Bézier curve-CA* algorithm has been proposed. Based on the traditional A* algorithm, we uniformly segmented each node, obtained a series of path node coordinates, then deleted the middle excess nodes, and finally used a variable parameter Bézier curve to curve the path inflection point to get a smooth and shorter path. The results of simulation shows that the improved A* algorithm reduces path length by 22.78% and the operation time is reduced by 43.28% in our Turtlebot2 robot experiment.
作者
徐星
范昕炜
徐林
XU Xing;FAN Xin-wei;XU Lin(College of Quality and Safety Engineering,China Jiliang University,Hangzhou Zhejiang 310018,China)
出处
《计算机仿真》
北大核心
2019年第10期322-328,共7页
Computer Simulation
关键词
算法
路径规划
机器人
Algorithm
Path planning
Robot
