改进型A*算法的可重构机器人路径规划研究

路径规划是保证可重构机器人快速完成任务的关键技术之一。为提高可重构机器人的行驶效率,缩短行驶路径,首先,提出一种基于Bresenham直线算法思想的改进型A*路径规划算法,实现可重构机器人路径点数消减、拐点消除,提高路径平滑度。在此基础上,考虑可重构机器人本身体积以及机器人可重构的特性,建立可重构机器人构型库,讨论了可重构机器人体积与周围障碍物的关系,减少机器人行走过程中与障碍物的碰撞几率。利用MATLAB仿真平台对改进型A*路径规划算法进行仿真实验,验证了算法的有效性,可应用于复杂环境的机器人路径规划;分析了机器人重构后路径规划问题,利用可重构特性可缩短机器人运行路程,体现了可重构机器人的优越性。

Path planning of reconfigurable robot based on improved A* algorithm

Path planning is one of the key technologies for reconfigurable robots to accomplish tasks quickly. In order to improve the driving efficiency of the reconfigurable robot and shorten the driving path, an improved A* path planning algorithm based on the idea of Bresenham straight line algorithm is proposed to achieve path point reduction and inflection point elimination of the reconfigurable robot and improve the smoothness of the pathfirstly. On this basis, considering the volume of the reconfigurable robot itself and the reconfigurable characteristics of the robot, the reconfigurable robot configuration library is established, and the relationship between the volume of the reconfigurable robot and the surrounding obstacles is discussed to reduce the probability of collision between the robot and obstacles in the process of walking. The improved A* path planning algorithm is simulated by using MATLAB simulation platform to verify the effectiveness of the algorithm, which can be applied to robot path planning in complex environment. The path planning problem after robot reconfiguration is analyzed, and the running distance of robot can be shortened by using reconfigurable characteristics, which reflects the superiority of reconfigurable robot.