基于改进A~*算法的室内移动机器人路径规划

针对移动机器人在室内定位的特点,在结构化环境下,开发了机器人路径规划系统。在阐述了全局地图构建方法基础上,根据移动机器人的实际运行环境采用栅格法构建了环境地图。利用A*算法进行初步路径规划,其不足之处是路径规划数据中包含了所有规划点的坐标,冗余点较多,且移动机器人无法在拐点处调整自身姿态。针对这些不足,提出了能够计算出拐点、旋转方向及旋转最小角度的A*路径规划改进算法并进行了实验。移动机器人定位实验结果表明:利用改进后的A*路径规划算法不仅简化了路径,而且在拐点处移动机器人能够调整自身姿态,可以较好地满足室内移动机器人全自主运动的要求。

Indoor mobile-robot path planning based on an improved A~* algorithm

An indoor mobile-robot path planning system was developed under the structured environment in consideration of the characteristics of mobile-robot technology on indoor localization.Based on the global map building methods,the environment map was built in the robot’s actual environment using the grid method.The path preliminarily planned by A* algorithm contained all planning point coordinates,which caused more redundant points with the robot not being able to adjust its posture at the inflection point.An improved A* algorithm,which can calculate the inflection point,rotation direction and the minimum rotation angles,was then proposed against the shortage of the path planning.Mobile-robot positioning tests show that the improved algorithm not only simplifies the path,but also adjusts the robot’s posture at the inflection point,which can meet the requirements of robot autonomous movement.