| 基于改进A~*算法的仿生机器鱼全局路径规划 |
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| 引用本文： | 郭强.基于改进A~*算法的仿生机器鱼全局路径规划[J].西华大学学报(自然科学版),2011,30(3):34-37,56. |
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| 作者姓名： | 郭强 |
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| 作者单位： | 天津大学电气工程与自动化学院,天津,300072 |
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| 摘 要： | 针对传统A*算法搜索速度慢和规划路径不够优化的缺点,引入可扩展节点,对A*算法流程进行改进,以减少时间和空间复杂度,提高搜索效率,并对规划路径进行优化处理,以有效的缩短路径。对存在凹形障碍物的地图,采用后退—尝试的方法解决路径规划的失败问题,使之绕过凹形障碍物取向目标点,达到输出最短路径的目标。
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| 关 键 词： | 仿生机器鱼 路径规划 A*算法 可扩展节点 凹形障碍物 |
Improved A* Algorithm Based Global Path Planning for Bio-mimetic Robotic Fish |
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| GUO Qiang.Improved A* Algorithm Based Global Path Planning for Bio-mimetic Robotic Fish[J].Journal of Xihua University:Natural Science Edition,2011,30(3):34-37,56. |
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| Authors: | GUO Qiang |
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| Affiliation: | GUO Qiang(School of Electrical Engineering and Automation,Tianjin University,Tianjin 300072 China) |
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| Abstract: | A* algorithm is improved to solve its low efficiency and non-optimal path.Introducing successor,the improved algorithm is simplified in its time and space complexity,and the planned path is optimized to make it shorter than before.Considering the concavity obstacles,the planning path may get stuck in concavity traps.A back-try method is given to solve the problem,and make the planning path round the trap instead of getting into it. |
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| Keywords: | bio-mimetic robotic fish path planning A* algorithm extendable node concavity obstacle |
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