A mobile robot path planning algorithm based on improved A*
文献类型：会议论文
| 作者 | Shi ZJ(石征锦)1; Su YF(宿一凡)1; Bu CG(卜春光)2 ; Fan XL(范晓亮)1
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| 出版日期 | 2019 |
| 会议日期 | December 28-29, 2019 |
| 会议地点 | Qingdao, China |
| 页码 | 1-5 |
| 英文摘要 | Global path planning of mobile robot aims to provide a safe and smooth path for mobile robot navigation. Traditional A * algorithm is planning the path of more turns, and not smooth. Moreover, for the u-shaped terrain ,the path stick to the obstacles. Aiming at the shortcomings of A* algorithm, cosine distance is selected as the heuristic function, and direction information is added and normalized. The 36-order neighborhood search matrix is selected to solve the problem of fitting u-bend. In addition, a post-processing method based on Bessel curve is proposed. Make the planned path curvature change continuously. Simulation results show the effectiveness of the improved algorithm. |
| 产权排序 | 2 |
| 会议录 | 2019 3rd International Conference on Energy Material, Chemical Engineering and Mining Engineering (EMCEME 2019)
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| 会议录出版者 | IOP |
| 会议录出版地 | Bristol, UK |
| 语种 | 英语 |
| ISSN号 | 1757-899X |
| 源URL | [http://ir.sia.cn/handle/173321/27102]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Su YF(宿一凡) |
| 作者单位 | 1.School of Automation And Electrical Engineering, Shenyang Ligong University, Shenyang, Liaoning, 110159, china 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, Liaoning, 110016, china |
| 推荐引用方式 GB/T 7714 | Shi ZJ,Su YF,Bu CG,et al. A mobile robot path planning algorithm based on improved A*[C]. 见:. Qingdao, China. December 28-29, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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