摘要
针对移动机器人路径规划的效率和所规划路径的安全性问题,基于阿克曼六轮转向模型,提出了一种基于改进Hybrid A^(*)算法的路径规划方法。通过改进Hybrid A^(*)算法中的启发式函数,引入距离惩罚函数,减少了节点搜索数量;通过构建安全走廊,引导移动机器人尽可能远离障碍物;在代价函数中加入了节点向前、换向和向后扩展的惩罚项,确保所规划路径的可执行性与安全性。通过仿真表明,基于改进Hybrid A^(*)算法的路径规划方法适用于阿克曼六轮移动机器人,提高了路径规划的效率,规划的路径更具安全保障。
A^(*) path planning method based on the improved Hybrid A^(*) algorithm is proposed to address the efficiency of the path planning of mobile robots and the safety of the planned paths,which is grounded on the Ackerman six-wheel steering model.The number of node searches is reduced by improving the heuristic function in the Hybrid A^(*) algorithm and introducing a distance penalty function;guiding mobile robots as far away from obstacles as possible by constructing safe corridors;penalty terms for node forward,commutation and backward expansion are added to the cost function to ensure the enforceability and safety of the planned paths.The simulation shows that the path planning method based on the improved Hybrid A^(*) algorithm is applicable to the Ackerman six-wheeled mobile robot,which improves the efficiency of path planning and the planned paths are more secure and safe.
作者
钟佩思
曹泉虎
刘梅
王晓
梁中源
王铭楷
ZHONG Peisi;CAO Quanhu;LIU Mei;WANG Xiao;LIANG Zhongyuan;WANG Mingkai(Advanced Manufacturing Technology Center,Shandong University of Science and Technology,Qingdao 266590,China;College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China;TELD New Energy Co.,Ltd.,Qingdao 266100,China)
出处
《组合机床与自动化加工技术》
北大核心
2023年第8期122-126,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
山东省自然科学基金项目(ZR202103070107,ZR2020MF101)。
