Wheel type airport boundary patrol robot path planning method based on improved A * algorithm
A path planning and robot technology, which is applied in the direction of instruments, road network navigators, navigation, etc., can solve problems such as unevenness, many turning points in the final path, and unfavorable robot steering, so as to achieve path continuity, ensure stability, reduce the number of inflection points and Effect of Total Path Length
Inactive Publication Date: 2021-01-08
NANJING UNIV OF SCI & TECH
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The traditional A* algorithm fixedly adopts the 8-neighborhood expansion method when selecting nodes, and can only choose 8 movement directions around it at most. Therefore, the movement angle is limited to an integer multiple of π / 4, which is not conducive to the robot's steering, making the final path more turning points and less smooth
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[0034] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0035] In one embodiment, a method for path planning of a wheeled airport patrol robot based on the improved A* algorithm is provided, the method comprising the following steps:
[0036] Step 1. Construct a grid map according to the airport environment, and plan the stops and operating paths of the airport patrol robot;
[0037] Step 2. According to the inspection task, the improved A* algorithm is used for global path planning to obtain the driving path of the robot.
[0038] Further, in one of the embodiments, the grid map is constructed according to the airport environ...
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The invention discloses a wheel type airport boundary patrol robot path planning method based on an improved A * algorithm, and the method comprises the following steps: constructing a grid map according to an airport environment, and planning a parking point and an operation path of an airport inspection robot; performing global path planning by utilizing an improved A * algorithm according to the inspection task to obtain a driving path of the robot; and carrying out path smoothing processing. Aiming at the inspection situation of a wheeled airport inspection robot, the traditional A * pathplanning algorithm is improved. On the basis of a path obtained through planning of a traditional A * algorithm, smoothing processing with the deviation degree and the path total length as evaluationindexes is carried out, a gradient descent method is utilized, an optimal solution is obtained through multiple times of iteration, the path becomes continuous and smooth, the number of inflection points and the path total length are reduced, and the stability and the high efficiency of the robot in the driving process are ensured.
Description
technical field [0001] The invention belongs to the field of path planning, in particular to a path planning method for a wheeled airport patrol robot based on an improved A* algorithm. Background technique [0002] With the continuous development of human society towards intelligence, more and more intelligent robots are used in all walks of life. For the field of mobile robots, path planning has always been the focus of research. With people's continuous research, many excellent algorithms have been proposed and applied to solve practical problems. Such as Dijkstra algorithm, A* algorithm, ant colony algorithm, genetic algorithm and so on. However, with the continuous improvement of the requirements for the accuracy and efficiency of path planning in engineering practice, the use of a certain independent algorithm often fails to meet the requirements due to its large limitations. [0003] The A* algorithm was first proposed in the 1970s [Peter E.Hart, Nils J.Nilsson, Be...
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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 赵栩鹤张天亮田庆郭健
Owner NANJING UNIV OF SCI & TECH