摘要
在智能移动机器人的定位和导航系统中,路径规划是其中的核心问题。传统的A＊算法是一种基于栅格的最小路径方法,通过这种方法得到的路径与实际中的最小路径相比,存在路径长、多拐点、不平滑等缺点,不利于双轮差速机器人的运动。在这里,利用Floyd算法将A＊算法进行优化,缩短A＊算法得到路径的长度,降低A＊算法的拐点,利用圆弧平滑方法将拐点处进行光滑处理,最终得到一条适合双轮差速机器人的行驶路线,降低路径长度约4%-10%,减少累计转折次数约66%-80%。
Path planning is a key problem in the intelligent mobile robot＇s positioning and navigation system. The traditional A＊ algorithm is a minimum path method based on grid. Compared with the actual path, the path is calculated by this method with many shortcomings such as path length, multi inflection point, uneven slip and so on. It is also not conducive to the motion of differential wheel robot. Floyd algorithm is used to optimize the A＊ algorithm, reduce the inflection points and path length of the A＊ algorithm, using arc smoothing method to smooth the path. Finally finds a suitable route of differential wheel robot, reduces the path length of approximately 4% to 10%, and the cumulative reduces the number of turns about（66-80）%.
出处
《机械设计与制造》
北大核心
2016年第1期190-193,共4页
Machinery Design & Manufacture
基金
国家自然科学基金(61262059
31460248)
新疆优秀青年科技创新人才培养项(2013721016)
自治区科技支疆项目(201591102)
新疆研究生科研创新项目(XJGRI2014026)
