摘要： 针对移动机器人路径规划过程中单一算法不易协调多种要求的问题,提出一种基于多阶段决策思想的全局路径规划算法。根据不同功能将规划过程划分为多个阶段,每一阶段的决策均依赖于上一阶段的决策结果。利用改进的位置码四叉树模型构建规划环境的模型,使用A*算法在前一步构建的基础上规划出最优路径存在的区域,称为路径区域,应用改进粒子滤波算法得到路径点,将路径点作为关键点利用分段B样条插值得到规划结果。实验结果表明,与A*算法和粒子滤波算法相比,该算法的规划时间、路径点数量、规划结果评价值等指标均有所提高,通过加入参数自动化选取,减弱了人为因素对规划结果的影响。

关键词: 机器人, 路径规划, 多阶段决策, A*算法, 粒子滤波, B样条插值

Abstract: A global path planning algorithm based on multistage decision is proposed for the problem that the single algorithm is not easy to coordinate multiple demands in the path planning process of mobile robot.The algorithm divides the planning process into several stages according to the different functions,and the decision of each stage is dependent on the decision of the last stage.The algorithm uses the improved location code quad-tree model to construct the model of the planning environment,uses the A* algorithm on the basis of the previous step to get the region of optimal path,which is called the path area,and then uses the improved particle filtering algorithm to get the path point.The path points are taken as the key points of the B spline interpolation to get the planning results.Experimental results show that compared with the A* algorithm and particle filtering,the time consuming,the number of path points,and the evaluation value results of the proposed algorithm are improved.Through the automatic selection of the parameters,the influence of human factors on the results of planning is reduced.

Key words: robot, path planning, multistage decision, A* algorithm, particle filtering, B spline interpolation

中图分类号: 

• TP301.6