摘要
针对路径规划问题提出A^(*)优化算法。首先,在传统A^(*)算法的基础上利用JPS算法对子节点进行扩展跳跃,提高A^(*)算法的效率;然后,对A^(*)算法规划路径使用贝塞尔曲线进行平滑处理;最后,基于Matlab平台将改进的A^(*)算法在9组不同栅格地图上进行仿真实验。结果表明,利用JPS算法和贝塞尔曲线改进的A^(*)算法在路径规划过程中计算量极大减小,转向平滑性也得到了改善,且随着周围环境地图规模增大,路径规划效率也随之提高,改进后的A^(*)算法路径规划能力明显优于原算法。
An improved A^(*)algorithm for path planning of mobile robots is proposed.First of all,based on the traditional A^(*)algorithmJPS algorithm is used to extend the child nodes and select the jumping pointso as to improve the efficiency of A^(*)algorithm.SecondlyBezier curve is used to smooth the path generated by A^(*)algorithm.Finallybased on Matlabthe improved A^(*)algorithm was simulated on 9 groups of different grid maps.The results show that the improved A^(*)algorithm using JPS algorithm and Bezier curve greatly reduces the amount of computationimproves the steering smoothness,and enhances the path planning efficiency with the increase of scale of the surrounding environment map.The improved A^(*)algorithm obviously has better path planning capability than the original algorithm.
作者
张志文
张鹏
毛虎平
李晓杰
程必良
ZHANG Zhiwen;ZHANG Peng;MAO Huping;LI Xiaojie;CHENG Biliang(North University of China,Taiyuan 030051,China)
出处
《电光与控制》
CSCD
北大核心
2021年第4期21-25,共5页
Electronics Optics & Control
基金
山西省青年科学基金(201901D211208)
山西省高等学校科技创新项目(2019L0605)。
