基于A*与动态窗口法的物料传输平台路径规划研究

doi:10.11959/j.issn.2096-6652.202304

智能科学与技术学报 ›› 2023, Vol. 5 ›› Issue (4): 515-524.doi: 10.11959/j.issn.2096-6652.202304

基于A*与动态窗口法的物料传输平台路径规划研究

唐炜(), 谭啸, 孙宇, 严家鹏, 严光锐

江苏科技大学机械工程学院，江苏镇江 212100

收稿日期:2022-07-04 修回日期:2022-08-20 出版日期:2023-12-15 发布日期:2023-12-15
通讯作者: 唐炜 E-mail:tangweisc@163.com
作者简介:唐炜（1973- ），男，江苏科技大学机械工程学院副教授，主要研究方向为机电控制及自动化、机器人控制。
谭啸（1995- ），男，江苏科技大学机械工程学院硕士生，主要研究方向为路径规划算法、嵌入式系统设计。
孙宇（1998- ），男，江苏科技大学机械工程学院硕士生，主要研究方向为移动机器人路径规划。
严家鹏（1996- ），男，江苏科技大学机械工程学院硕士生，主要研究方向为智能测控技术。
严光锐（1999- ），男，江苏科技大学机械工程学院硕士生，主要研究方向为机器人应用技术。
基金资助:
江苏省重点研发计划重点项目(BE2016009);江苏科技大学专项实验设备研究项目(210813102001)

Research on path planning of material transmission platform based on A* and dynamic window method

Wei TANG(), Xiao TAN, Yu SUN, Jiapeng YAN, Guangrui YAN

School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212100, China

Received:2022-07-04 Revised:2022-08-20 Online:2023-12-15 Published:2023-12-15
Contact: Wei TANG E-mail:tangweisc@163.com
Supported by:
Jiangsu Key R&D Plan Foundation of China(BE2016009);The Special Experimental Equipment Research Project of Jiangsu University of Science and Technology(210813102001)

摘要/Abstract

摘要：

传统的物料传输设备存在工作方式单一、传输路径柔性调整困难等问题，智能化物料传输系统已逐渐成为物流传输领域的研究热点之一。面向模块化物料传输平台，提出了一种基于A*与动态窗口法的路径规划算法，以期通过柔性调整物料传输路径提高传输过程中的避障能力。在全局路径规划中通过改进A*权值函数，融合Bezier曲线与矩阵干涉理论，实现了传输路径的平滑与静态避障；通过引入动态窗口法并提取全局路径关键点作为过渡点对传输目标进行局部路径指引，在避免路径陷入局部最优的同时，实现了传输目标的动态避障。研究结果表明，基于A*与动态窗口法的路径规划算法使全局路径总长度、总转角分别降低了4.6%、42.3%，同时在局部规划中能有效地避开动态障碍物，验证了该路径规划算法的合理性。

关键词: 路径规划, A*算法, 动态窗口法, Bezier曲线, 物料传输

Abstract:

Due to the problems of traditional material transfer equipment such as single working mode and inflexible adjustment of transfer path, intelligent material transfer system has gradually become a research hotspot in the field of logistics transmission. A path planning algorithm based on A* and dynamic window method was proposed for the modular material transmission platform, in order to improve its obstacle avoidance ability during the transfer process by flexibly adjusting the material transfer path. In the global path planning, the smoothness and static obstacle avoidance of the transmission path were realized by improving the A* weight function and integrating the Bezier curve and matrix interference theory. And by introducing the dynamic window method and extracting the global path key points as transition points for local path guidance of the transmission target, dynamic obstacle avoidance was realized when the path falling into local optimization was avoided. The research results showed that the path planning algorithm based on A* and dynamic window method could reduce the total global path length by 4.6% and the total path turning angle by 42.3%, while the dynamic obstacles could be effectively avoided in the local planning, which verified the rationality of the path planning algorithm.

Key words: path planning, A* algorithm, dynamic window method, Bezier curve, material transmission

中图分类号:

TP391

唐炜, 谭啸, 孙宇, 等. 基于A*与动态窗口法的物料传输平台路径规划研究[J]. 智能科学与技术学报, 2023, 5(4): 515-524.

Wei TANG, Xiao TAN, Yu SUN, et al. Research on path planning of material transmission platform based on A* and dynamic window method[J]. Chinese Journal of Intelligent Science and Technology, 2023, 5(4): 515-524.

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类别	总路径长度/cm	总路径转角和
传统栅格	19.142	360°
蜂巢栅格	19.849	390°

算法	总路径长度/cm	总转角和	总路径缩减率	总转角缩减率
传统A*算法	19.849	390°	—	—
权值A*算法	17.320	330°	12.7%	15.3%
权值A*算法+高阶Bezier曲线	14.723	180°	25.8%	53.8%
权值A*算法+3阶Bezier曲线	16.196	210°	18.4%	46.2%
融入矩阵干涉检测	18.928	225°	4.6%	42.3%

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基于A*与动态窗口法的物料传输平台路径规划研究

Research on path planning of material transmission platform based on A* and dynamic window method

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