摘要
为解决移动机器人路径规划难题,设计了融合改进A*算法和动态窗口法的全局动态路径规划方法。首先,基于传统A*算法结合JPS算法对子节点进行扩展跳跃,提高路径规划效率;其次,结合Floyd算法对所规划路径进行平滑优化;最后,融合动态窗口法使A*算法可进行全局动态路径规划。基于Matlab平台将全局动态路径规划算法在8种规格栅格地图中进行仿真实验。分析结果得知,融合算法在效率和平滑性上得到极大改善,且可进行动态避障,融合改进后的全局动态路径规划算法具有明显优秀的路径规划能力。
In order to solve the problem of mobile robot path planning,a global dynamic path planning method is designed combining improved A*algorithm with Dynamic Window Approach( DWA). First,based on the traditional A*algorithm and the JPS algorithm,the child nodes are extended and jumped to improve the efficiency of path planning. Secondly,the planned path is smoothed and optimized by using Floyd algorithm. Finally,DWA is integrated so that the A*algorithm can perform global dynamic path planning.Based on the Matlab platform,simulation experiments of the global dynamic path planning algorithm are conducted for 8 kinds of grid maps. The analysis result shows that the fusion algorithm is greatly improved in efficiency and smoothness,and can perform dynamic obstacle avoidance. The global dynamic path planning algorithm after fusion and improvement has excellent path planning capabilities.
作者
张志文
张鹏
毛虎平
李晓杰
孙权
ZHANG Zhiwen;ZHANG Peng;MAO Huping;LI Xiaojie;SUN Quan(North University of China,Taiyuan 030000,China)
出处
《电光与控制》
CSCD
北大核心
2021年第9期39-43,共5页
Electronics Optics & Control
