基于Dubins曲线和改进A*算法的AUV路径规划方法

The AUV Path Planning method based on the improved A* serch and Dubins curve

摘要:

将Dubins曲线和具有角度约束的改进A*搜索算法结合应用于路径规划中,能解决路径长度最短和安全性的问题。这样规划出来的路径由两段满足AUV最小转弯半径的圆弧和一段同时与两弧相切的直线构成。圆弧段由产生Dubins路径的方法产生,直线段由改进A*搜索算法扩展产生。首先通过判断Dubins路径存在条件,解算Dubins曲线参数,从而确定此路径中两圆弧的起始点、终止点坐标。再通过这些圆弧坐标可得到直线与圆弧的切入点、切出点,此两点就是改进A*搜索算法扩展路径的起始点和终止点。以Matlab为工具进行仿真实验,验证了此方法能产生规避障碍物的可行的最短路径。

Abstract:

:The application ofSthe Dubins curve and the improvedSA* searching algorithm withSangle constraintSin the path planning, can solve the problem of the shortest path and route security.SThe path generated by this method, is composed of two circular arcs and a straight line which tangents to them.SThe circular arc which has the minimum turning radius, was produced by theSDubins curves,whileSthe straight lineSby the A * searching algorithm.SFirst, by judgingSthe existing conditionSto calculateSthe parametersSof Dubins’Scurve,Sthen theScoordinates of theSstartingSpointSandterminalSpointScan be calculated.SWithSthe coordinates,Swe can calculate the entry point and cut-in point of theSstraight lineSand arcs.SAnd these two pointsSwill be the startingSandSterminalSpoints which improveSthe A* searching algorithms’Spropagating path.SThe Matlab simulation experiment verified that the path produced in this way is the shortest one to avoid the obstacles.