[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(1):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(1):58-65.[doi:10.3969/j.issn.1673-4785.201208032]
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XIAO Guobao,YAN Xuanhui.A path planning algorithm based on improved Theta * for mobile robot[J].CAAI Transactions on Intelligent Systems,2013,8(1):58-65.[doi:10.3969/j.issn.1673-4785.201208032]
一种基于改进Theta *的机器人路径规划算法
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
8
期数:
2013年第1期
页码:
58-65
栏目:
学术论文—智能系统
出版日期:
2013-03-25
- Title:
- A path planning algorithm based on improved Theta * for mobile robot
- 文章编号:
- 1673-4785(2013)01-0058-08
- Keywords:
- mobile robot; path planning; heuristic function; A * algorithm; Theta * algorithm; PS_Theta * algorithm
- 分类号:
- TP242.6
- 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
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