摘要
针对传统A^(*)寻路算法得到的原始路径中冗余点多、拐弯处不平滑等问题,提出一种路径优化及路径平滑方法。通过对环境中的障碍物进行膨胀处理,得到安全原始路径;使用射线检测法,删除路径中的所有冗余节点,取得关键节点;通过插值法在关键节点间补足节点数,代入拟曲线平滑函数,得到平滑后路径,克服平滑后路径中存在的少量畸变,改进关键点间的插值方法,得到改进分段拟曲线平滑方法。将所提方法中的路径与原始路径对比发现,路径转折数减少50%以上;对比贝塞尔曲线平滑法,路径拐弯处平均曲率半径增大11.77%,且无畸变。仿真测试结果表明,所提方法有效优化了A^(*)算法所得原始路径的视觉效果。
Aiming at the problems that the original path obtained by the traditional A^(*) pathfinding algorithm has many redundant points and uneven corners,a path optimization and path smoothing method is proposed.Through the expansion of obstacles in the environment,a safe original path is obtained;the ray detection method is used to delete all redundant nodes in the path to obtain key nodes.The number of nodes is complemented between key nodes by interpolation,and the smoothed path is obtained by substituting a pseudo-curve smoothing function.In order to overcome a small amount of distortion in the smoothed path,the interpolation method between key points is improved,and an improved piecewise pseudo-curve smoothing method is obtained.Compared with the original path,the path obtained by the proposed method reduces the number of path turns by more than 50%.Compared with the Bezier curve smoothing method,the average radius of curvature at the bend of the path increases by 11.77%without distortion.The simulation test results show that the proposed method effectively optimizes the visual effect of the original path obtained by the A^(*) algorithm.
作者
李子涵
孙建红
王永利
LI Zihan;SUN Jianhong;WANG Yongli(School of Electronic and Optical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;School of Computer Science and Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《电子设计工程》
2021年第13期1-5,共5页
Electronic Design Engineering
基金
国家自然科学基金重点项目(61941113)
军委装备发展部“十三五”装备领域基金(61403120501)
国家电网公司科学技术项目(5211XT190033)。
