| 煤矿井下基于改进A*算法的移动机器人路径规划 |
| |
| 引用本文： | 王帅. 煤矿井下基于改进A*算法的移动机器人路径规划[J]. 煤矿机械, 2008, 29(11) |
| |
| 作者姓名： | 王帅 |
| |
| 作者单位： | 煤炭科学研究总院抚顺分院,辽宁抚顺113001 |
| |
| 摘 要： | 移动机器人的路径规划一直是移动机器人研究领域的难点问题。针对煤矿井下环境的不确定性,移动机器人路径规划效果不理想,采用启发式搜索算法中的A*算法实现井下移动机器人的局部路径规划,并对A*算法中的估价函数进行加权修正,保证了估价函数的可靠性,提高了路径规划效率。仿真实验说明该方法的有效性和可行性。
|
| 关 键 词： | 移动机器人 不确定环境 A*算法 路径规划 |
Path Planning of Mobile Robot Based on Advanced A* Algorithm under Coal Mine |
| |
| Abstract: | Path planning of mobile robot is still a difficult question in the mobile robot research domain.An A* algorithm of heuristic search is used to realized local path planning of mobile robot under coal mine for environment uncertainty of coal mine because it is difficult to obtain a good path in such a enivronment.Estimate function is modified by using weight then the reliability of function is guaranteed.The efficiency of path planning is improved.Simulation shows that the algorithm is efficient and feasible. |
| |
| Keywords: | mobile robot uncertain environment A* algorithm path planning |
| 本文献已被 维普 等数据库收录！ |
|
