摘要： 机器人行走路径的决策是机器人运动过程中相对比较复杂的课题，要对所处的环境给予准确的判断，并且还要确定正确的行走路径，这要求算法必须有一定的适应性和快速的计算能力。基于此，在A*探索算法的基础上提出一种路径生成算法，克服A*算法无法产生光滑连续的曲线路径的缺点，并且计算耗时非常少。该算法可以用于机器人在行走过程中对周围环境进行及时分析。

关键词: 行走策略, B-Spline曲线, A*算法

Abstract: The decision-making of robots walks path is a difficult researching project. It must judge the environment accurately and determine the correct walks path, which requires algorithm to have certain compatibility and the fast computing power. This paper proposes a path planning algorithm in the basis of A* algorithm. It changes the shortcoming that A* algorithm can not generate smooth change path, and it takes a little time cost. This algorithm may be suitable in promptly analyzing environment about the robot in moving.

Key words: walking strategy, B-Spline curves, A* algorithm

中图分类号: 

• TP309