基于方向A~算法的温室机器人实时路径规划
Real-time Path Planning of Greenhouse Robot Based on Directional A~ Algorithm

张文刘勇张超凡张龙夏营威 ^*

文摘	针对复杂环境下的温室机器人路径规划问题,重点研究了生成路径的平滑设计、碰撞检测和算法实时性,提出一种方向A~算法。首先采用"视野线"平滑原则优化路径,消除锯齿效应并避免部分碰撞;其次应用"圆弧-直线-圆弧"转弯策略,避免机器人本体宽度影响;最后基于二叉堆加速算法,提升算法计算效率。仿真实验结果表明,方向A~算法满足平滑要求且能有效避免碰撞,加速算法平均提速4~7倍。同时,机器人在真实实验环境下能实现安全自主导航,跟踪误差小于0.15 m,验证了所提方法的可行性。
其他语种文摘	Because of the existing problems in path planning of greenhouse robot under complex environment, a directional A~* algorithm was proposed. This method was focused on the smooth design, collision detection and the algorithm efficiency. Firstly, the "line of sight" solutions were used to smooth the path for getting rid of the zigzag effect and collisions. Secondly, the "arc-line-arc" turning methods were applied to avoid the width of the greenhouse robot in path finding. At last, some basic optimizations based on the binary heap were carried out to speed up the directional A~* algorithm. Simulation and comparison results between the improved A~* algorithm and traditional one showed that the proposed method was more efficient. It can not only meet the requirements of smooth, but also predict collision after proceeding with turning strategy. At the same time, the accelerating algorithm based on the binary heap made the path finding 4~7 times faster. Moreover, a path planning and tracking test was carried out in laboratory environment, where a simulation greenhouse was built. The results verified that the tracking precision can keep in a small range and the greenhouse robot can run without collision when the navigation path was given by the proposed algorithm, which proved the effectiveness and feasibility of the directional A~* algorithm.
来源	农业机械学报 ,2017,48(7):22-28 【核心库】
DOI	10.6041/j.issn.1000-1298.2017.07.003
关键词	温室机器人 ; 路径规划 ; 方向A~*算法 ; 二叉堆
地址	中国科学院合肥物质科学研究院应用技术研究所, 合肥, 230031
语种	中文
文献类型	研究性论文
ISSN	1000-1298
学科	自动化技术、计算机技术
基金	国家“十二五”科技支撑计划项目 ; 安徽省科技重大专项计划项目 ; 安徽省创新型省份建设专项资金项目
文献收藏号	CSCD:6033108