装配路径规划中基于动态坐标的A*搜索算法

在装配路径规划中，最常用的方法是A^*搜索算法，通过两个实例说明在实体模型空间中，由于节点的扩展方向和运动方向不一致，导致A^*算法失败和算法复杂性的增加。在总结传统的A^*搜索算法的基础上，本文提出了动态坐标的A^*搜索算法。通过变换坐标，使节点扩展方向和运动方向始终保持一致，从而解决了由于节点扩展方向和被规划物体运动方向不一致所导致的算法失败。最后给出了变换坐标的原则，证明了动态坐标的A^*搜索算法的收敛性，并进行了复杂性分析。

A* Search Arithmetic Based on Dynamic Coordinate in Assembly Path Plan

The heuristically search arithmetic is often used in assembly path planning. But the arithmetic will be failed because of the non-consistent between the direction of movement and the expland direction of node. We proposed a heuristically search arithmetic based on dynamic coordinate. The arithmetic can keep the consistent between the direction of movement and the expland direction of node by transforming coordinate dynamically. Then,we put forward the rule of transforming coordinate. Finally we discussed the converge and the complexity of the arithmetic.