摘要
为解决跳点搜索算法在路径规划过程中存储大量不必要跳点的问题,提高寻路效率,提出一种融合人工势场法与跳点搜索法的机器人路径规划算法。该算法通过人工势场法为跳点搜索法提供搜索参考方向,直至生成最终路径,能够有效降低扩展过程中搜索到的无用跳点数量,从而减少计算量。在搜索到的路径基础上,引入3次均匀B样条曲线,以进一步优化最优解,得到更加平滑的机器人移动路径。仿真与实验结果表明,改进算法可很大程度减少跳点的数量,有效提高路径规划效率。
In order to solve the problem that the jump points search algorithm stores a large number of unnecessary jump points in the path planning process and improve the efficiency of path finding,A robot path planning algorithm combining artificial potential field method and jumping point search method is proposed.The algorithm provides the search reference direction for the jump point search method through the artificial potential field method until the final path is generated,which can effectively reduce the number of useless jump points searched in the expansion process,thereby reducing the amount of calculation.On the basis of the searched path,3 uniform B-spline curves are introduced to further optimize the optimal solution and obtain a smoother robot moving path.Simulation and experimental results show that the improved algorithm can greatly reduce the number of jump points and effectively improve the efficiency of path planning.
作者
侯宇翔
高焕兵
汪子健
杜传胜
HOU Yu-xiang;GAO Huan-bing;WANG Zi-jian;DU Chuan-sheng(School of Information and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China;Shandong Key Laboratory of Intelligent Building Technology,Shandong Jianzhu University,Jinan 250101,China)
出处
《组合机床与自动化加工技术》
北大核心
2023年第3期54-58,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金(61903227)
山东省重点研发计划项目(2019GGX104105)。
关键词
跳点搜索法
人工势场法
移动机器人
路径规划
B样条曲线
jump point search
artificial potential field
mobile robot
path planning
B-spline curves
