摘要
针对AGV路径规划,传统的A^(*)算法存在遍历节点数多、转弯次数较多及规划路径过障碍物顶点导致实际环境中容易与障碍物发生碰撞等问题,提出一种改进启发函数的A^(*)算法。该算法首先通过改变存在障碍物邻域的可扩展节点坐标避免所规划路径经过障碍物顶点,其次通过引入当前节点与目标点间距离占起始点与目标点间距离的比重和当前节点到扩展节点的方向向量与水平方向之间的夹角来动态调节启发函数,然后利用折线优化法去除路径多余节点,最后通过改进二次Bezier曲线拟合规划路径,优化路径的平滑度。MATLAB仿真结果表明:改进传统A^(*)算法可以有效避免路径接触障碍物,减少一定程度的节点搜索数量从而提高路径规划效率,同时优化AGV转弯次数和路径平滑度。
For the AGV(Automated Guided Vehicle)path planning,the traditional A^(*)algorithm has many problems such as numerous traversed nodes,excessive turns,and the planned path crossing obstacle vertices,which lead to collisions in real-world environments,an improved A^(*)algorithm is proposed.The algorithm firstly avoids the planned path passing through the obstacle vertices by changing the coordinates of the expandable nodes in the neighborhood of the existence of obstacles,secondly,dynamically adjusts the heuristic function by introducing the proportion of the distance between the current node and the target point to the distance between the start point and the target point and the angle between the direction vector from the current node to the expanding node and the horizontal direction,then removes the redundant nodes of the path by using the line-folding optimization method,and finally optimizes the smoothness of the path by improving the quadratic Bezier curve fitting the planning path.The MATLAB simulation results show that the improvement of the traditional A^(*)algorithm can effectively avoid the path contacting obstacles,reduce the number of node searches to a certain extent to improve the efficiency of the path planning,and at the same time,optimize the number of turns of the AGV and the smoothness of the path.
作者
陈思颖
刘为国
朱洪波
CHEN Siying;LIU Weiguo;ZHU Hongbo(College of Electrical and Information Engineering,Anhui University of Technology,Huainan Anhui 232001,China)
出处
《兰州工业学院学报》
2025年第3期71-76,共6页
Journal of Lanzhou Institute of Technology
基金
国家自然科学基金(62003001)。
