室内机器人服务目标避障路径优化仿真

摘要

Indoor robots have high requirements for obstacles avoidance and path planning efficiency.The traditional A * algorithm ignores robot size and its dynamic environment replanning is time consuming,which does not apply to indoor path planning.In order to solve these problems,an improved A * path planning algorithm is proposed.Depending on whether the robot's size is known or unknown,the path planning was used based on the principles of the election ban or raster ban election principles.Based on the map update information,the A * algorithm incremental re-planning was used.Simulation results show that the improved A * algorithm can plan a reasonable obstacles avoidance path based on robot's size,which greatly reduces the number of grid nodes search during re-planning,shortens the re-planning time,and optimizes the quality of indoor robot service target obstacles avoidance path.%室内机器人对避障和路径规划效率都有很高要求,传统A*算法忽略机器人尺寸、动态环境中重规划耗时,不适用于室内路径规划.为解决上述问题,提出了一种改进A*路径规划算法.根据机器人尺寸已知、未知两种情况,采用基于路线禁选原则或栅格禁选原则进行规划.依据地图更新信息,使用增量A*算法进行重规划.仿真结果表明,改进A *算法规划出的路径能基于机器人尺寸合理避障,并大幅度减少了重规划时搜索的栅格节点数量,缩短了重规划时间,优化了室内机器人服务目标避障路径质量.