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A*algorithm-based path planning method

A path planning and algorithm technology, applied in the field of intelligent robots, can solve problems such as potential safety hazards and approaching obstacles, and achieve the effect of ensuring safety and reducing the number of bending times

Pending Publication Date: 2019-03-08
STATE GRID ZHEJIANG NINGBO YINZHOU POWER SUPPLY LTD CO +1
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Problems solved by technology

However, in the process of traversing the nodes of the traditional A* algorithm, no matter how far the node is from the obstacle, the cost of the robot passing through it is estimated to be equal.
However, this will make the path planned by the A* algorithm likely to be close to obstacles, and there are potential safety hazards

Method used

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Embodiment Construction

[0044] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments.

[0045] In the process of traversing nodes in the traditional A* algorithm, no matter how far the node is from the obstacle, the cost estimate of the mobile unit passing through it is equal. This makes the path planned by the A* algorithm likely to be close to obstacles, and there are potential safety hazards. The embodiment of the present invention proposes a path planning method based on the A* algorithm, improves the heuristic function of the A* algorithm, and adds safety cost estimation to it, so that the planned path is far away from obstacles, ensuring the safety of the robot during driving. Safety; the straight line substitution method is used to smooth the path, making the path continuous and smooth, and reducing the number of bending times of the path.

[0046] Such as f...

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Abstract

The invention relates to the field of intelligent robots, in particular to an A*algorithm-based path planning method. The method comprises the following steps of: S1, establishing a safety cost function according to a distance between a node and an obstacle and a safety radius of a mobile unit; S2, establishing a heuristic function according to the safety cost function; and S3, carrying out path planning through an A* algorithm according to the heuristic function. By using the method, the following effects can be achieved: through improving the heuristic function of the A* algorithm, safety cost estimation is added, so that the planned path is far away from the obstacle, and the safety of a robot during driving is ensured; and a linear replacement method is utilized to smoothen the path, so that the path is continuous and smooth, and the bend number of the path is decreased.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a path planning method based on the A* algorithm. Background technique [0002] With the continuous increase of the inspection area and the increasingly complex inspection environment, the traditional manual inspection method faces problems such as high labor intensity, high management cost and low work efficiency. In order to partially replace or completely replace the tasks of manual daily inspections, an inspection robot has been developed for daily inspections. [0003] In the field of intelligent robots, path planning is an important research direction. Its only purpose is to find an optimal or suboptimal collision-free path from the starting point to the target point in an environment with obstacles. At present, the commonly used path planning algorithms are: Dijkstra, A*, D*, etc. based on graph search; PRM, RRT, etc. based on random sampling; heuristic-based genetic alg...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 张霁明周俊吴明孙斌林超张莺卢恒
Owner STATE GRID ZHEJIANG NINGBO YINZHOU POWER SUPPLY LTD CO
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