[1]葛文雅,李平.移动机器人路径规划安全A*算法[J].华侨大学学报(自然科学版),2022,43(5):658-667.[doi:10.11830/ISSN.1000-5013.202107028]
　GE Wenya,LI Ping.Safe A* Algorithm of Mobile Robot Path Planning[J].Journal of Huaqiao University(Natural Science),2022,43(5):658-667.[doi:10.11830/ISSN.1000-5013.202107028]
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移动机器人路径规划安全A*算法()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第43卷
期数:
2022年第5期
页码:
658-667
栏目:
出版日期:
2022-09-13

文章信息/Info

Title:
Safe A* Algorithm of Mobile Robot Path Planning
文章编号:
1000-5013(2022)05-0658-10
作者:
葛文雅;  李平
华侨大学 信息科学与工程学院, 福建 厦门 361021
Author(s):
GE Wenya;  LI Ping
College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China
关键词:
移动机器人;  路径规划;  安全A*算法;  栅格环境;  路径安全性
Keywords:
mobile robot;  path planning;  safe A* algorithm;  grid environment;  path security
分类号:
TP242
DOI:
10.11830/ISSN.1000-5013.202107028
文献标志码:
A
摘要:
针对移动机器人路径规划时安全性不高的问题,提出一种路径规划安全A*算法.首先,通过扩展搜索邻域,减小路径转角角度,避免不必要的折角;然后,在启发式函数中引入新的评价指标,增加移动机器人与障碍物的距离.最后,提出安全性指数S,对路径安全性进行量化.通过MATLAB软件进行仿真对比,仿真结果表明:文中算法的路径质量和安全性更佳.
Abstract:
Aiming at the problem of low security in mobile robot path planning, a safe A* algorithm of path planning was proposed. Firstly, by expanding the search neighborhood, the path corner angle was reduced and unnecessary broken angle was avoided. Then, a new evaluation index was introduced into the heuristic function with increase the distance between mobile robot and obstacle. Finally, the security index S was proposed to quantify the path security. Simulation comparison was conducted using MATLAB software, the simulation results showed that compared with A* algorithm, the path quality and security of the proposed algorithm was better.

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备注/Memo

备注/Memo:
收稿日期: 2021-07-19
通信作者: 李平(1981-),女,副教授,博士,主要从事非线性系统与智能控制、复杂控制系统的研究.E-mail:pingping_1213@126.com.
基金项目: 国家自然科学基金资助项目(61603144); 福建省自然科学基金资助项目(2018J01095); 福建省高校产学合作科技重大项目(2013H6016); 华侨大学中青年教师科技创新资助计划项目(ZQN-PY509)
更新日期/Last Update: 2022-09-20