基于启发式机器人路径规划仿真研究

摘要

研究路径规划优化选择问题,路径规划一直是工业机器人需要解决的重点技术.为了使机器人的移动目标位姿寻找无碰撞路径,针对传统的A*的路径规划算法对路径规划选择时容易陷入“死循环”,而且找到的路径并非最优路径等缺陷.为解决上述问题,提出了一种在原A*算法的基础上改进为新的双向A*递归路径规划算法,首先通过加入搜索方向因子,充分利用硬件资源和并行编程技术,遍历路径中的所有节点,当某一节点前后节点连线上无障碍物时,将延长线路的中间节点删除,从而建立双向A*模型.仿真结果表明,改进后的算法性能优于标准A*算法以及蚁群算法,并使路径选择得到优化.%Study optimization of path planning problems. Path planning is the key issues in industrial robots are as. The traditional path planning algorithm A * path planning choices are vulnerable to " death cycle" , and its path is not the optimal one. On the basis of A * algorithm, the paper proposed a new A * based on two-way recursive path planning algorithm. First, by adding the factor of search direction and using hardware resources and parallel programming techniques, all the nodes in the path were traversed. If there were no obstacles in the line connecting the nodes before and after a node, the the intermediate node was deleted to establish bi-directional A * model. Simula tion results show that the performance of the improved algorithm is better than the standard A * algorithm and ant colony algorithm, and the routing length is significantly reduced.