[1]李明磊,赵 杰,李 戈.面向方形节点拓扑地图下的移动机器人路径规划算法研究[J].机械与电子,2015,(10):67-70.
　LI Minglei,ZHAO Jie,LI Ge.Research on Path Planning Algorithm for Mobile Robot Based on Square Nodes in Topological Map[J].Machinery & Electronics,2015,(10):67-70.
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面向方形节点拓扑地图下的移动机器人路径规划算法研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年10期
页码:
67-70
栏目:
智能工程
出版日期:
2015-10-25

文章信息/Info

Title:
Research on Path Planning Algorithm for Mobile Robot Based on Square Nodes in Topological Map
文章编号:
1001-2257(2015)10-0067-04
作者:
李明磊; 赵 杰; 李 戈
(哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨 150001)
Author(s):
LI Minglei; ZHAO Jie; LI Ge
(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)
关键词:
移动机器人;  拓扑地图;  轨迹规划;  A*算法
Keywords:
mobile robot;  topological map;  path planning;  A* algorithm
分类号:
TP301.6
文献标志码:
A
摘要:
针对方形节点拓扑地图下的移动机器人的特性,采用了A*算法来实现路径规划,并对传统的A*算法进行改进,一是在启发函数中引入了位移和角度2个因素,提高了函数的启发性; 二是引入堆的方法优化了数据结构,提高了列表中代价最小节点的搜索速度。仿真实验结果表明,改进后的A*算法节点的最短路径节点相对减少,算法效率明显提高,具有良好的可行性和有效性。
Abstract:
In order to achieve the goal,according to the characteristics of the mobile robot based on square nodes in topological map,the paper improved the A* algorithm as follow. First,the new heuristic function took consideration of two factors:Distance and angle,improved the heuristic ability of A*; Then,the slowest part of the A* pathfinding algorithm is finding the node in the list with the lowest F score,the paper used the binary heaps to make it faster. Simulation results showed that the improved A* decreased the number of result nodes and took less time,demonstrated the feasibility and validity of the algorithm.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2015-05-28
作者简介:李明磊(1990-),男,山东潍坊人,硕士研究生,研究方向为机器人技术。
更新日期/Last Update: 2019-10-25