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赵 辉,郝梦雅,王红君,等. 基于改进A*算法与天牛须搜索算法的农业机器人路径规划方法[J]. 科学技术与工程, 2019, 19(31): 185-190.
ZHAO Hui,HAO Meng-ya,WANG Hong-jun,et al.Research on Path Planning method of Agricultural Robot based on improved A * algorithm and Beetle Antennae search algorithm[J].Science Technology and Engineering,2019,19(31):185-190.
基于改进A*算法与天牛须搜索算法的农业机器人路径规划方法
Research on Path Planning method of Agricultural Robot based on improved A * algorithm and Beetle Antennae search algorithm
投稿时间:2019-04-09  修订日期:2019-07-12
DOI:
中文关键词:  机器人  路径规划  A*算法  天牛须算法  贝塞尔曲线
英文关键词:robot  path planning  a* algorithm  beetle antennae search  bezier curve
基金项目:天津市科技支撑重点项目
           
作者单位
赵 辉 天津理工大学
天津农学院
郝梦雅 天津理工大学
王红君 天津理工大学
岳有军 天津理工大学
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中文摘要:
      为解决复杂环境下,农业机器人路径规划存在的局部路径欠优、收敛速度慢、折点较多的问题。为解决此问题,本文提出一种基于天牛须搜索算法和A*算法相结合的BACA*全局规划方法。首先,基于A*算法,采用曼哈顿距离作为启发函数进行全局规划;其次,通过适当调整步长的天牛须搜索算法对路径进行优化,缩短了路径长度,降低了转折点数量;最后,采用贝塞尔曲线对路径进行圆滑处理,使机器人在现实场景中能平稳前进。仿真结果表明:与传统A*算法相比,该算法的路径更加平滑,折点数更少;与天牛须搜索算法相比,能保证生成路径的效率性、全局最优性。在缩短路径长度和降低累计转折点数量方面验证了所提方法的有效性。
英文摘要:
      In order to solve the problems of poor local path, slow convergence rate and many broken points in the path planning of agricultural robot in complex environment, there are many problems in the path planning of agricultural robot. In order to solve this problem, this paper proposes a BACA* global planning method based on the combination of the Beetle Antennae Search algorithm and the A * algorithm. Firstly, based on the A * algorithm, Manhattan distance is used as the heuristic function for global planning; secondly, the path is optimized by adjusting the step size of Beetle Antennae Search algorithm, which shortens the path length and reduces the number of turning points. Finally, Bezier curve is used to smooth the path so that the robot can advance smoothly in the real world. The simulation results show that compared with the traditional A * algorithm, the path of the algorithm is smoother and the number of broken points is less, and the efficiency and global optimality of the
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