基于A*改进算法的机械臂避障路径规划

为解决机械臂在运行时可能与工作空间中的障碍物发生碰撞,提出圆柱体包络碰撞检测法和基于A*算法的变步长分段搜索法.运用圆柱体包络碰撞检测法,将碰撞检测问题转化为计算圆柱体间的位置关系.变步长分段搜索法解决了应用传统A*算法可能出现的搜索数据量大甚至搜索死循环等问题.分别在基于OpenGL的三维仿真实验平台和实际系统中验证了该方法的有效性和可行性.

Path Planning Method for Manipulator to Avoid Obstacle Based on Advanced A* Algorithm

To solve the problem that manipulator may collide with the obstacles during the run-time in its work space, two technical measures are proposed in this paper: cylinder enveloping collision detection method and variable-step segment-searching method based on A^* algorithm. Using former method, the problem of collision detecting can be transformed to detect the positions between two cylinders; while the problem of using traditional A^* algorithm in path searching that lead to large searching data even infinite loop searching could be solved by using the variable-step segment-searching method. The effectiveness and feasibility of proposed methods are proved by simulation on three-dimension platform based on OpenGL and application to actual system.