[1]肖国宝,严宣辉.一种基于改进Theta *的机器人路径规划算法[J].智能系统学报,2013,8(01):58-65.[doi:10.3969/j.issn.1673-4785.201208032]
 XIAO Guobao,YAN Xuanhui.A path planning algorithm based on improved Theta * for mobile robot[J].CAAI Transactions on Intelligent Systems,2013,8(01):58-65.[doi:10.3969/j.issn.1673-4785.201208032]
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一种基于改进Theta *的机器人路径规划算法(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第8卷
期数:
2013年01期
页码:
58-65
栏目:
出版日期:
2013-03-25

文章信息/Info

Title:
A path planning algorithm based on improved Theta * for mobile robot
文章编号:
1673-4785(2013)01-0058-08
作者:
肖国宝严宣辉
福建师范大学 数学与计算机科学学院,福建 福州 350007
Author(s):
XIAO Guobao YAN Xuanhui
School of Mathematics and Computer Science, Fujian Normal University, Fuzhou 350007, China
关键词:
机器人路径规划启发函数A *算法Theta *算法PS_Theta *算法
Keywords:
mobile robot path planning heuristic function A * algorithm Theta * algorithm PS_Theta * algorithm
分类号:
TP242.6
DOI:
10.3969/j.issn.1673-4785.201208032
文献标志码:
A
摘要:
对Theta *算法进行改进,并用于解决机器人路径规划问题.首先,将障碍物对机器人产生的斥力作为一种惩罚函数加入到启发函数中,并合理地选择惩罚函数权重以确定启发函数.在此基础上,改进A *算法的变种——Theta *算法,提出对路径进行平滑处理的PS_Theta *算法.最后在二维仿真环境中进行验证及数据统计,并推广至三维复杂环境中,实验结果证明了算法的合理性与有效性
Abstract:
Current research indicates the Theta * algorithm has improved in terms of solving the path planning for a mobile robot. First, the repulsion, which is generated by the obstacles to the robot, has been added to the heuristic function as a penalty function. Based on reasonably choosing the weight of the penalty function, the heuristic function was also identified. Due to this, the Theta * algorithm, a variant of A * algorithm, was improved, thereby creating a smooth route for the PS_Theta * algorithm. In the end, a test was conducted and analyzed, not only in the 2D coordination simulated environment but also in the 3D complex environment, and the data validated the algorithm reasonably and effectively.

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备注/Memo

备注/Memo:
收稿日期:2012-08-24.
网络出版日期:2013-01-25.
基金项目:国家自然科学基金资助项目(61175123);福建省省属高校科研专项重点项目(JK2009006);福建省高校服务海西建设重点项目.
通信作者:严宣辉.
E-mail: xgb@163.com.
作者简介:
肖国宝,男,1987年生,硕士研究生,主要研究方向为人工智能、数据挖掘.
严宣辉,男,1968年生,副教授,福建省人工智能学会理事,主要研究方向为计算智能和数据挖掘.主持和参与国家自然科学基金、福建省自然科学基金等省部级以上科研项目5项,发表学术论文20余篇.
更新日期/Last Update: 2013-04-12