基于改进D^*算法的室内移动机器人路径规划

对于D^*算法,由于其本身存在一定的缺陷,例如,规划阶段的庞大计算量,所得路径转角相对较大、具有多次转弯数,且若目标点更换后,原有规划不宜再用,应再次作出规划等。因此,对此算法进行改进。基于沃罗诺伊路线图法,将目标环境分解为多个局部环境,选取局部路径目标点时,以局部环境关键节点为主,对于无用节点,采取舍弃操作。使D^*算法的改进基于两点,即子节点选定方式、启发函数的改进,同时最大程度确保路径平滑。仿真结果表明,在转角度数、转弯次数上均有优化,规划时间缩短,路径质量提高,适当保持与障碍物的距离,机器人执行任务的安全性得到保障。在目标点变更后,利用沃罗诺伊路径路线图,机器人以更小的计算量抵达新的目标点。

Path planning of indoor mobile robot based on improved D^*algorithm

Aiming at the problem that D^*algorithm has a large amount of calculation in the planning stage and needs to be re-planned after the replacement of the target point,the Voronoi road map method was used to transform the target environment into several local environments.The key nodes of the local environment were regarded as the target points of the local path,and the useless nodes were discarded in advance,the selection of sub-nodes and heuristic function of the traditional D^*algorithm were improved,and the path smoothing process was performed at the same time.The simulation results show that the number of rotation angles and the number of turns are optimized,the planning time is shortened,the quality of the path is improved,and the safety of the robot is guaranteed.After the change of the target point,the robot arrives at the new target point using the Voronoi road map with a smaller amount of calculation.