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

doi:10.11959/j.issn.2096-6652.202304

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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

学术论文 | 更新时间：2024-04-07

- 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
- 智能科学与技术学报 2023年5卷第4期页码：515-524
- 作者机构：
  
  江苏科技大学机械工程学院，江苏镇江 212100
- 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。" ]
- 基金信息：
  
  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)
- DOI：10.11959/j.issn.2096-6652.202304
  中图分类号： TP391
- 收稿：2022-07-04，
  
  修回：2022-08-20，
  
  纸质出版：2023-12-15
- 稿件说明：
移动端阅览
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.

TANG Wei, TAN Xiao, SUN Yu, 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.
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. DOI： 10.11959/j.issn.2096-6652.202304.

TANG Wei, TAN Xiao, SUN Yu, 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. DOI： 10.11959/j.issn.2096-6652.202304.

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。

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.

关键词

Keywords

references

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