摘要
在智能餐厅环境下,针对移动机器人在多目标点路径规划时存在规划效率不高的问题,提出了一种基于A*算法与APF算法相结合的多目标点路径规划的方法。将多目标点路径规划问题转化成类旅行商问题,采用A*算法和人工势场法规划出多目标点的最优遍历顺序。首先,将若干个目标点用一个集合表示并应用在A*算法上面,实现A*算法多个目标点的路径规划;其次,引入人工势场法对多个目标点进行优先级判定,借助人工势场法计算各个目标点的势能值,之后利用人工势场法得到的势能值对目标点集进行排序,完成各个目标点之间的最优顺序;最后,对规划好的目标点集使用A*算法进行全局路径规划。为了验证该方法的有效性和先进性,将该算法进行消融实验,同时也与两种典型的多目标点规划算法进行对比。结果表明,该算法是有效的,能够在缩短路径规划时间和降低路径代价的同时规划出一条有效路径。
In the smart restaurant environment,in order to solve the problem of low planning efficiency in multi-target point path planning of mobile robots,we propose a multi-target point path planning method based on the combination of A*algorithm and APF algorithm.The multi-target point path planning problem is transformed into a traveling salesman-like problem,and the A*algorithm and artificial potential field method are used to plan the optimal traversal sequence of multiple target points.Firstly,several target points are represented as a set and applied to the A*algorithm to realize the path planning of multiple target points of the A*algorithm.Secondly,the artificial potential field method is introduced to determine the priority of multiple target points.With the help of the artificial potential field method,the potential energy value of each target point is calculated and applied to sort the target point set for completing of the optimal order among the target points.Finally,the A*algorithm is used for global path planning on the planned target point set.In order to verify the effectiveness and advancement of the proposed method,the proposed algorithm is subjected to ablation experiments and also compared with two typical multi-target point planning algorithms.The results show that the proposed algorithm is effective and can plan an effective path while shortening the path planning time and reducing the path cost.
作者
邢慧杰
张晓滨
张宏伟
XING Hui-jie;ZHANG Xiao-bin;ZHANG Hong-wei(School of Computer Science,Xi’an Polytechnic University,Xi’an 710048,China;Xi’an Xiangteng Microelectronics Technology Co.,Ltd.,Xi’an 710068,China)
出处
《计算机技术与发展》
2024年第8期116-121,共6页
Computer Technology and Development
基金
陕西省教育厅2022年度一般专项科研计划项目(人文社会科学项目)(22JK0208)。
关键词
移动机器人
A*算法
人工势场法
多目标点路径规划
融合算法
mobile robot
A*algorithm
artificial potential field method
multi-target point path planning
fusion algorithm
