计算机与现代化 ›› 2023, Vol. 0 ›› Issue (04): 15-19.

• 人工智能 • 上一篇    下一篇

基于改进双向A*算法的消防机器人路径规划

  

  1. (山东建筑大学信息与电气工程学院,山东 济南 250101)
  • 出版日期:2023-05-09 发布日期:2023-05-09
  • 作者简介:杜传胜(1996—),男,山东枣庄人,硕士研究生,研究方向:电子信息,E-mail: 1730964066@qq.com; 通信作者:高焕兵(1979—),男,山东潍坊人,副教授,博士,研究方向:智能控制与机器人系统,E-mail: gaohuanbing@126.com; 侯宇翔(1996—),男,安徽宿州人,硕士研究生,研究方向:控制工程,E-mail: 1025732970@qq.com; 汪子健(1997—),男,安徽池州人,硕士研究生,研究方向:电子信息,E-mail: 1725447940@qq.com。
  • 基金资助:
    国家自然科学基金资助项目(61903227); 山东省重点研发计划项目(2019GGX104105)

Path Planning of Fire Robot Based on Improved Bidirectional A* Algorithm

  1. (School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China)
  • Online:2023-05-09 Published:2023-05-09

摘要: 为解决消防机器人在复杂封闭环境内的全局路径规划问题,提出一种基于改进启发函数的同步双向A*算法。首先,将传统A*的单向搜索改为同步双向搜索,动态定义正反向搜索的目标节点;其次,在评价函数中增加“归正”因子函数,防止正反向搜索路径不相交的情况,同时为预估代价函数增加动态权重函数以减少搜索过程中冗余节点的产生;针对搜索路径拐点较多和不平滑的问题,提出一种拐角优化和基于Bezier曲线局部平滑的解决方案;最后通过仿真对比和真实环境试验,验证改进算法在路径长度、搜索时间、遍历节点数和拐点数等方面的优越性以及有效性。

关键词: 消防机器人, 路径规划, 同步双向A*算法, 拐角优化, 路径平滑

Abstract: In order to solve the global path planning problem of fire robot in complex closed environment, a synchronous bidirectional A* algorithm based on improved heuristic function is proposed. Firstly, the traditional one-way search of A* is changed to synchronous two-way search, and the forward and reverse search target nodes are dynamically defined. Secondly, a “normalization” factor function is added to the evaluation function to prevent the disjoint of forward and reverse search paths, and a dynamic weight function is added to the estimated cost function to reduce the generation of redundant nodes in the search process. In order to solve the problem of many inflection points and unsmooth search path, a solution of corner optimization and local smoothing based on Bezier curve is proposed. Finally, through simulation comparison and real environment experiments, the advantages of the improved algorithm in path length, search time, number of traversing nodes and inflection points are proved, and the effectiveness of the algorithm is verified.

Key words: firefighting robot, path planning, synchronous bidirectional A* algorithm, corner optimization, path smoothing