天津职业技术师范大学学报

针对移动机器人在障碍物空间采用A~*算法进行路径规划时存在搜索效率低、冗余点和拐点等问题，设计一种基于A~*算法改进的有效路径规划算法。该算法采用精简搜索策略，减少无用子区间的搜索，节约搜索时间。同时根据当前点与目标点之间的相对位置与方向，采用不同的搜索区间，使得搜索更加具有方向性，提高了搜索效率。引入安全保护策略，设置移动机器人与障碍物之间的安全距离，避免二者发生碰撞，保证了移动机器人的安全性。使用路径平滑策略，减少了冗余点和拐点，改善了路径的平滑度。仿真结果表明：本文设计的改进A~*算法提高了搜索效率和安全性，且增加了平滑度。

Low search efficiency,redundant points,and inflection points usually occur when mobile robots use the A~*algorithm for path planning in the obstacle space. To address these problems,an effective path planning algorithm is designed based on an improved A~* algorithm. A simplified search strategy is adopted to reduce the useless sub-intervals search and save time. At the same time,according to the relative position and direction between the current point and the target point,different search intervals are used to make the search more directional and improve efficiency. A safety protection strategy was introduced to set the safety distance between the mobile robot and the obstacle,avoid the collision between them,and ensure the safety of the mobile robot. A path smoothing strategy is employed,which reduces redundant points and inflection points and improves the smoothness of the path. The simulation results show that the improved A~* algorithm designed in this paper improves the search efficiency,security,and smoothness.