| 基于A* |
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| 引用本文： | 李孟锡,何博侠,周俣.基于A*[J].机械与电子,2021,39(6):61-65. |
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| 作者姓名： | 李孟锡 何博侠 周俣 |
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| 作者单位： | 南京理工大学机械工程学院,江苏 南京 ２１００９４ |
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| 摘 要： | 针对二维栅格地图下,移动机器人以最短路径遍历所有目标点的路径规划问题,提出一种基于启发信息扩展节点的 A*
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| 关 键 词： | 移动机器人 多目标路径规划 A*算法 蚁群算法 最优路径 二维栅格地图 |
Multi-target Path Planning Method for Mobile Robot Based on A* and Ant Colony Algorithm |
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| LI Mengxi,HE Boxia,ZHOU Yu.Multi-target Path Planning Method for Mobile Robot Based on A* and Ant Colony Algorithm[J].Machinery & Electronics,2021,39(6):61-65. |
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| Authors: | LI Mengxi HE Boxia ZHOU Yu |
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| Affiliation: | ( School of Mechanical Engineering , Nanjing University of Science and Technology , Nanjing ２１００９４ , China ) |
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| Abstract: | Aiming at the path planning problem of the mobile robot traversing all target points with the shortest path under the two-dimensional grid map , a path planning method based on the combination of the A* algorithm and hybrid ant colony algorithm based on heuristic information expansion node is proposed．Through the node expansion function based on heuristic information , it solves the problem of useless calculation when the A* algorithm expands the node , and improves the planning efficiency．In order to improve the shortcomings of the ant colony algorithm that is easy to fall into the local optimal solution , a hybrid ant colony algorithm is proposed．The particle swarm algorithm is integrated into the ant colony algorithm to optimize it so as to eliminate cross mutation and enhance global search capabilities．The simulation experiment shows that the A* algorithm based on heuristic information to expand nodes can reduce the search nodes by １３.１８％ compared with the A* algorithm ; the optimal path and average path solved by the hybrid ant colony algorithm are better than the ant colony algorithm , and in the iterative process , It is not easy to fall into the local optimal solution．In the real environment , the simulation parameters are used for experiments , and the experimental results also prove the effectiveness of the method． |
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| Keywords: | mobile robot multi-target path planning A* algorithm ant colony algorithm optimal path two-dimensional grid map |
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