基于改进A*算法机器人路径规划研究

Research on Robot Path Planning Based on Improved A* Algorithm

摘要:

针对移动机器人全局路径规划问题提出一种改进A*算法。首先建立栅格地图,基于传统A*算法,进行邻域扩展,将传统8邻域扩展到24邻域,使路径方向具有更多选择,减少不必要的转折点。优化改进A*算法的启发式函数,不再采用单一的曼哈顿距离或者欧几里得距离,将其进行融合改进,剔除路径中冗余节点和多余转折点。最后将全局路径与动态窗口法相结合,结合各自的优点,充分考虑到机器人全局最优路径的同时能安全避开障碍物,得到一条平滑轨迹。各个算法进行验证之后采用ROS平台对系统进行仿真分析,实验结果表明,改进后算法具有更优秀的路径规划能力。

Abstract:

In this paper, An improved A* algorithm for mobile robot global path planning is improved. We first set up a grid map and extend the neighborhood based on the traditional A* algorithm, extending the traditional 8 neighborhood to the 24 neighborhood, making the path direction more selective and reducing the unnecessary turning point. The heuristic function of the A* algorithm is optimized, and the single Manhattan distance or Euclidean distance is no longer used, and it is fused and improved to eliminate the redundant nodes and the superfluous turning points in the path. In the end, we combine the global path with the dynamic window method and combine the advantages of each of them, and take full consideration of the global optimal path of the robot to avoid the obstacles and get a smooth trajectory. After each algorithm is verified, the ROS platform is used to simulate the system. The experimental results show that the improved algorithm has better path planning ability.