移动机器人路径规划安全A*算法

针对移动机器人路径规划时安全性不高的问题,提出一种路径规划安全A^*算法.首先,通过扩展搜索邻域,减小路径转角角度,避免不必要的折角;然后,在启发式函数中引入新的评价指标,增加移动机器人与障碍物的距离.最后,提出安全性指数S,对路径安全性进行量化.通过MATLAB软件进行仿真对比,仿真结果表明:文中算法的路径质量和安全性更佳.

Safe A* Algorithm of Mobile Robot Path Planning

Aiming at the problem of low security in mobile robot path planning, a safe A^* algorithm of path planning was proposed. Firstly, by expanding the search neighborhood, the path corner angle was reduced and unnecessary broken angle was avoided. Then, a new evaluation index was introduced into the heuristic function with increase the distance between mobile robot and obstacle. Finally, the security index S was proposed to quantify the path security. Simulation comparison was conducted using MATLAB software, the simulation results showed that compared with A^* algorithm, the path quality and security of the proposed algorithm was better.