摘要
为在能量有限或补给不足的情况下,降低移动机器人的能耗,提高在动态环境下给定任务的完成率,提出一种改进A*算法与动态窗口法相融合的路径规划方法。首先,考虑地面坡度、摩擦等因素,构建机器人能耗模型,提出基于能耗成本的路径搜索新准则。其次,针对路径冗余、多转折造成能量损耗的问题,提出基于动态基准转折惩罚、三角剪枝与弦定弧过渡法相结合的路径优化方法,保证全局路径能耗最优。接着,针对动态窗口法狭窄环境下灵活性差的问题,融合改进A*和动态窗口法并提出航向角自调整策略,增强动态避障能力。最后,设计了全局节能路径偏离评价与能耗评价子函数用于局部节能路径的规划。仿真结果表明,所提方法在能耗、平滑性和动态避障等方面有明显的提升,在复杂、狭窄的场景中应用更具优越性。
To reduce the energy consumption of the mobile robot and improve the completion rate of a given task in the dynamic environment under the condition of limited energy or insufficient supply,a path planning method based on the integration of energy-saving A*algorithm and dynamic window approach was proposed.Considering the road slope,friction and other factors,the energy consumption model of the robot was constructed,and a new path search criterion based on energy cost was proposed.Aiming at the problem of energy loss caused by redundant paths and multiple transitions,a path optimization method based on dynamic benchmark transition penalty,triangular pruning and string-definite arc transition method was proposed to ensure the optimal global path energy consumption.To solve the problem of poor flexibility of dynamic window method in narrow environment,the improved A*and dynamic window method were combined,and the heading angle self-adjustment strategy was proposed to enhance the dynamic obstacle avoidance ability.The global energy saving path deviation evaluation and energy consumption evaluation sub-functions were designed to plan the local energy saving path.Simulation results showed that the proposed method had significant improvement in energy consumption,smoothness and dynamic obstacle avoidance,and was more advantageous in complex and narrow scenes.
作者
刘钰铭
黄海松
范青松
朱云伟
陈星燃
韩正功
LIU Yuming;HUANG Haisong;FAN Qingsong;ZHU Yunwei;CHEN Xingran;HAN Zhenggong(Key Laboratory of Advanced Manufacturing Technology,Ministry of Education,Guizhou University,Guiyang 550025,China;Information Engineering Institute,Chongqing Vocational and Technical University of Mechatronics,Chongqing 402760,China)
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2024年第1期158-171,共14页
Computer Integrated Manufacturing Systems
基金
国家自然科学基金资助项目(52165063)
贵州省高层次创新人才计划资助项目(黔科合平台人才-GCC[2022]006-1)
重庆市自然科学基金面上资助项目(CSTB2022NSCQ-MSX1600)
贵州省科技计划资助项目(黔科合支撑[2021]一般445,172,397,黔科合支撑[2022]一般008,165)。
关键词
移动机器人
路径规划
A*算法
动态窗口法
动态避障
mobile robot
path planning
A*algorithm
dynamic window approach
dynamic obstacle avoidance
