一种基于改进Theta *的机器人路径规划算法

对Theta *算法进行改进，并用于解决机器人路径规划问题.首先，将障碍物对机器人产生的斥力作为一种惩罚函数加入到启发函数中，并合理地选择惩罚函数权重以确定启发函数.在此基础上，改进A *算法的变种——Theta *算法，提出对路径进行平滑处理的PS_Theta *算法.最后在二维仿真环境中进行验证及数据统计，并推广至三维复杂环境中，实验结果证明了算法的合理性与有效性

A path planning algorithm based on improved Theta~* for mobile robot

Current research indicates the Theta * algorithm has improved in terms of solving the path planning for a mobile robot. First, the repulsion, which is generated by the obstacles to the robot, has been added to the heuristic function as a penalty function. Based on reasonably choosing the weight of the penalty function, the heuristic function was also identified. Due to this, the Theta * algorithm, a variant of A * algorithm, was improved, thereby creating a smooth route for the PS_Theta * algorithm. In the end, a test was conducted and analyzed, not only in the 2D coordination simulated environment but also in the 3D complex environment, and the data validated the algorithm reasonably and effectively.