摘要
移动机器人路径规划一直是移动机器人领域里的重要技术问题。A*算法在最优路径搜索上有着比较成功的运用,但在栅格环境下的A*算法也存在着折线多、转折角度大等问题。在考虑移动机器人的实际工作环境及相关运动参数后,这些问题都将大大地影响移动机器人的工作效率。在对以上问题进行分析后提出了一种基于Bezier曲线与A*算法融合的方法来实现移动机器人的路径规划,再通过MATLAB、V-REP仿真工具来实现Bezier_A*融合算法与平滑A*算法及A*算法的对比。通过Bezier_A*融合算法使得机器人在工作中的寻优能力、路径规划效率都得到较大的提高。
Mobile robot path planning is always a focus issue regarding the mobile robot field. A＊ algorithm,which is applied successfully as an outstanding algorithm in path optimization and planning,has a lot of problems under grid environment. Due to its particular path planning mode,it offers too many turn angles and will turn overly amount of times with over-sized angles accumulatively. Therefore,in the body of this article,we＇ll firstly present a fusion algorithm of both A＊ algorithm and Bezier curve. Then,we＇ll compare the performance between this new path planning method,smoothing A＊ algorithm as well as A＊ algorithm separately,based on MATLAB and V-REP simulation tools. In the end,we＇ll reach a conclusion of their performances on running stability,path optimization and path planning.
出处
《微型机与应用》
2017年第2期52-55,59,共5页
Microcomputer & Its Applications
基金
国家自然科学基金(61601381)
四川省科技支撑计划项目(2015GZ0035)
四川省教育厅重点项目(14ZA0091)
