| 引用本文: | 汤亚玲a,b
, 穆如如a
, 张学锋a
, 钟春燕a.基于改进 A* 算法的救援机器人路径规划研究(J/M/D/N,J:杂志，M：书，D：论文，N：报纸).期刊名称,2025，42（6）：33-40 |
| CHEN X. Adap tive slidingmode contr ol for discrete2ti me multi2inputmulti2 out put systems[ J ]. Aut omatica, 2006, 42(6): 4272-435 |
|
| 摘要: |
| :目的 化工园区救援机器人的路径规划是目前研究的热点,针对救援机器人在路径规划中使用传统 A* 算法
存在遍历冗余节点、内存消耗较大和运算速度较慢的问题,提出一种改进的 A* 算法。 方法 设计了自适应权重评
价函数,用于动态调整实际代价,以提升算法的效率与收敛速度;采用跳点搜索策略(Jump Point Search,JPS)来筛
选跳点,降低内存消耗和节点估计;运用三次均匀 B 样条曲线对优化后的路径进行处理,提高救援机器人前进的稳
定性和可行性。 结果 通过构建化工园区 Unity3D 仿真场景,对救援机器人路径规划问题进行仿真研究,仿真结果
表明:改进后的 A* 算法展现出较高的效率及准确性。 结论 该算法为化工园区救援机器人的路径规划提供了一种
更高效、更智能的解决方案,满足化工园区路径快速规划的需求。 |
| 关键词: 救援机器人 跳点搜索策略 路径规划 自适应权重 三次均匀 B 样条曲线 |
| DOI： |
| 分类号: |
| 基金项目: |
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| Research on Path Planning of Rescue Robots Based on Improved A* Algorithm |
|
TANG Yaling
a b
MU Ruru
a
ZHANG Xuefeng
a
ZHONG Chunyan
a
|
|
a. School of Computer Science and Technology b. Anhui Province Key Laboratory of Special Heavy Load Robot Anhui
University of Technology Ma?? anshan 243032 Anhui China
|
| Abstract: |
| Objective Path planning for rescue robots in chemical parks is a hot topic in current research. To address the
issues of traversing redundant nodes high memory consumption and slow computation speed of the traditional A* algorithm
in rescue robot path planning an improved A* algorithm is proposed. Methods An adaptive weight evaluation function is
designed to dynamically adjust the actual cost so as to enhance the algorithm?? s efficiency and convergence speed. The
jump point search strategy JPS is employed to screen jump points reducing memory consumption and node estimation. A
cubic uniform B-spline curve is used to process the optimized path to improve the stability and feasibility of the rescue
robot?? s movement. Results The path planning problem of the rescue robot is simulated by constructing a Unity3D
simulation scene in the chemical park and the simulation results show that the improved A* algorithm exhibits high
efficiency and accuracy. Conclusion This algorithm offers a more efficient and intelligent solution for the path planning of
rescue robots in chemical parks meeting the requirement for rapid path planning in such areas. |
| Key words: rescue robot jump point search strategy path planning adaptive weight cubic uniform B-spline curve |
