摘要
为解决传统A*算法所规划路径安全性不足、遍历节点数过多、路径过于曲折的问题,提出一种通过改进搜索邻域方式提高路径与障碍节点的距离,改进代价函数减少遍历节点数,通过双向遍历去除冗余节点减少路径转折的A*算法。改进DWA算法的评价函数,提高移动机器人与障碍物的安全距离。基于改进后A*算法规划的全局路径,融合改进后的DWA算法,实现移动机器人对动态障碍物和未知静态障碍物的局部避障。通过仿真实验验证对比,证明了改进后的A*算法对于规划路径的安全性、效率、路径质量均有较大的提高,融合改进后的DWA算法后,移动机器人的行驶路径更加安全、平滑。
To solve the problems of insufficient security,excessive number of search nodes,and excessive tortuous paths in the traditional A algorithm,an improved A algorithm is proposed to increase the distance between the path and obstacle nodes by improving the search neighborhood method and improve the cost function to reduce traversed nodes number and reduce path turns and corners by removing redundant nodes through bidirectional traversal.Improved evaluation function of DWA to increase the safe distance between the mobile robot and obstacles.Based on the global path planned by the improved A algorithm and integrated with the improved DWA,the mobile robot can achieve local obstacle avoidance of dynamic obstacles and unknown static obstacles.Through simulation experiment verification and comparison,it is proved that the improved A has greatly improved the safety,efficiency and path quality of planned paths.After integrating the improved DWA,the mobile robot′s driving path is safer and smoother.
作者
赵宇新
张志安
ZHAO Yuxin;ZHANG Zhi′an(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《组合机床与自动化加工技术》
北大核心
2025年第5期37-43,共7页
Modular Machine Tool & Automatic Manufacturing Technique
