| 引用本文: | 张学锋1,胡伟鹏1,石军花2,姜兴龙1.基于改进双向 A* 算法的移动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,2026，43（2）：146-155 |
| CHEN X. Adap tive slidingmode contr ol for discrete2ti me multi2inputmulti2 out put systems[ J ]. Aut omatica, 2006, 42(6): 4272-435 |
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| 摘要: |
| 目的 针对复杂环境下,解决传统 A* 算法在复杂环境中搜索效率低、路径拐点多等问题,提出改进的双向
A* 算法。 方法 该算法采用正向和反向动态扩展目标点,使用动态启发式函数,并将搜索领域从 8 邻域改进为 24
邻域的 8 个方向。 为优化路径,引入多次三阶贝塞尔曲线进行路径平滑。 结果 在多障碍和复杂地图情境下,改进
算法表现更高效。 在路径规划中,快速找到优化路径,减少搜索节点和路径拐点,实验数据指标提升超过 85%。
结论 改进的双向 A* 算法具有更好的适应性和灵活性,适用于各类复杂环境的路径规划。 其性能优势使其成为处
理大规模、高复杂度地图的理想选择,为路径规划领域提供强有力的支持。 |
| 关键词: A* 算法 路径规划 贝塞尔曲线 启发函数 24 邻域 |
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| Research on Mobile Robot Path Planning Based on Improved Bidirectional A* Algorithm |
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ZHANG Xuefeng1,HU Weipeng1,SHI Junhua2, JIANG Xinglong1
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1. Anhui Province Key Laboratory of Special Heavy Load Robot Anhui University of Technology Ma?? anshan 243032
Anhui China
2. Jiangsu Academy of Safety Science and Technology Nanjing 210042 China
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| Abstract: |
| Objective To solve the problems of low search efficiency and numerous path inflection points of the traditional
A* algorithm in complex environments an improved bidirectional A* algorithm is proposed. Methods This algorithm
dynamically expands target points in both forward and reverse directions employs dynamic heuristic functions and
improves the search area from an 8-neighborhood to 24-neighborhood in 8 directions. To optimize the path multiple thirdorder Bézier curves are introduced for path smoothing. Results In scenarios with multiple obstacles and complex maps
the improved algorithm shows higher efficiency. During path planning it can quickly find the optimized path reduce the
number of searched nodes and path inflection points and the experimental data index is improved by more than 85%.
Conclusion The improved bidirectional A* algorithm has better adaptability and flexibility making it suitable for path
planning in various complex environments. Its performance advantages make it an ideal choice for handling large-scale and
highly complex maps and this algorithm provides strong support in the field of path planning. |
| Key words: A* algorithm path planning Bézier curve heuristic function 24-neighborhood |
