摘要
研究路径规划优化选择问题,路径规划一直是工业机器人需要解决的重点技术。为了使机器人的移动目标位姿寻找无碰撞路径,针对传统的A*的路径规划算法对路径规划选择时容易陷入"死循环",而且找到的路径并非最优路径等缺陷。为解决上述问题,提出了一种在原A*算法的基础上改进为新的双向A*递归路径规划算法,首先通过加入搜索方向因子,充分利用硬件资源和并行编程技术,遍历路径中的所有节点,当某一节点前后节点连线上无障碍物时,将延长线路的中间节点删除,从而建立双向A*模型。仿真结果表明,改进后的算法性能优于标准A*算法以及蚁群算法,并使路径选择得到优化。
Study optimization of path planning problems. Path planning is the key issues in industrial robots areas. The traditional path planning algorithm A ＊ path planning choices are vulnerable to ＂death cycle＂ , and its path is not the optimal one. On the basis of A ＊ algorithm, the paper proposed a new A ＊ based on two-way reeursive path planning algorithm. First, by adding the factor of search direction and using hardware resources and parallel pro- gramming techniques, all the nodes in the path were traversed. If there were no obstacles in the line connecting the nodes before and after a node, the the intermediate node was deleted to establish bi-directional A ＊ model. Simulation results show that the performance of the improved algorithm is better than the standard A ＊ algorithm and ant colony algorithm, and the routing length is significantly reduced.
出处
《计算机仿真》
CSCD
北大核心
2012年第1期135-137,155,共4页
Computer Simulation
基金
廊坊市科技项目(2010011004)
关键词
路径规划
启发式算法
状态空间
Path planning
Heuristic algorithm
State space
