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Path planning method based on improved A* algorithm

A path planning and path technology, applied in the field of intelligent robots, can solve the problems of consumption of memory resources, low efficiency, etc., and achieve the effect of coherent motion form, smooth overall path, and reduction of total length.

Active Publication Date: 2019-11-22
SOUTHEAST UNIV
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AI Technical Summary

Problems solved by technology

Blind search focuses on the search process rather than the search target. It is often accompanied by a huge search space, resulting in the consumption of a large amount of memory resources and low efficiency. Specifically, there are breadth-first algorithms, depth-first algorithms, and Dijkstra algorithms.

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  • Path planning method based on improved A* algorithm
  • Path planning method based on improved A* algorithm
  • Path planning method based on improved A* algorithm

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Embodiment Construction

[0058] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0059] A kind of path planning method based on the improved A* algorithm described in the present invention, the overall process is as follows figure 1 shown, including the following steps:

[0060] Step 1: Express the robot's environment as a grid map, and use the A* algorithm to search for an initial path from the starting point to the target point in the grid map.

[0061] Step 2: Extract all the nodes in the initial path, start from the starting point, use the area method to judge whether the three adjacent nodes are collinear in turn, so as to find all the turning points on the path, that is, the inflection points; the details are as follows:

[0062] Such as figure 2 As shown, A, B, and C represent three adjacent nodes in the path planned by the A* algorithm, and calculate the area S of the triangle ABC ABC , when S ...

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Abstract

The invention discloses a path planning method based on an improved A * algorithm. For a problem that a path is not optimal due to the fact that many turning points exist in the path obtained throughthe A * algorithm, firstly, key inflection points in the path are combined on the basis of the A * algorithm, therefore, the turning points in the path are reduced, cubic spline interpolation points are reduced, interpolation efficiency is improved, secondly, a purpose of smoothing the path is achieved through cubic spline interpolation according to path nodes after inflection point combination, by means of the improved algorithm, the path length is shorter, the whole path is smoother, and the incomplete robot motion is better met.

Description

technical field [0001] The invention belongs to the field of intelligent robots, in particular to a path planning method based on an improved A* algorithm. Background technique [0002] With the continuous development of robot technology, more and more robots are used to provide various services and even replace human work. Autonomous navigation is the key for robots to realize intelligence and play a role, and path planning is an important component of robot automatic navigation capabilities. Path planning has always been a hot research topic in the field of intelligent mobile robots. Path planning means that in the prior map, the mobile robot can automatically plan a collision-free path from the starting point to the ending point according to the surrounding environment and using sensors to obtain information. [0003] There are many classifications of path planning algorithms. According to whether the external environment information is known, it can be divided into gl...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 王庆张益乔云侠刘芬
Owner SOUTHEAST UNIV
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