改进双向A*算法的移动机器人路径平滑处理研究

doi:10.16182/j.issn1004731x.joss.24-0693

系统仿真学报 ›› 2025, Vol. 37 ›› Issue (11): 2804-2811.doi: 10.16182/j.issn1004731x.joss.24-0693

• 论文 • 上一篇

改进双向A*算法的移动机器人路径平滑处理研究

陈梦源¹, 乔贵方¹^,², 邹旭¹, 曹嘉禹¹, 田磊¹

^1.南京工程学院自动化学院，江苏南京 210096
^2.东南大学仪器科学与工程学院，江苏南京 210096

收稿日期:2024-07-01 修回日期:2024-07-30 出版日期:2025-11-18 发布日期:2025-11-27
通讯作者: 乔贵方
第一作者简介:陈梦源(2000-)，女，硕士生，研究方向为移动机器人SLAM技术。
基金资助:
国家自然科学基金(51905258);江苏省研究生科研与实践创新计划(SJCX23_1160)

Research on Path Smoothing Processing of Mobile Robot Based on Improved A* Algorithm

Chen Mengyuan¹, Qiao Guifang¹^,², Zou Xu¹, Cao Jiayu¹, Tian Lei¹

^1.School of Automation, Nanjing Institute of Technology, Nanjing 210096, China
^2.School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

Received:2024-07-01 Revised:2024-07-30 Online:2025-11-18 Published:2025-11-27
Contact: Qiao Guifang

摘要/Abstract

摘要：

针对传统双向A*算法存在路径拐点多、不平滑以及路径穿越对角障碍物等问题，提出一种改进双向A*算法。在正向搜索和反向搜索路径中分别添加局部路径约束搜索，解决规划路径穿越对角障碍物的问题，并通过仿真验证了改进双向A*算法能够有效地避免穿越对角障碍物的问题。通过引入三次B样条曲线优化路径拐点，并利用差速移动机器人分别对平滑前后的路径进行跟踪控制，差速移动机器人的速度和加速度突变得到了有效抑制。结果表明：提出的改进双向A*算法在避开对角障碍物以及路径平滑性两方面都具有较优的效果。

关键词: 路径规划, 融合算法, 路径平滑, 双向搜索, 样条曲线

Abstract:

Traditional bidirectional A* algorithm has many path inflection points, undergoes smoothness, and faces diagonal obstacles in path traversing. Therefore, an improved bidirectional A* algorithm was proposed. Local path constraint search was added to the forward search and backward search, respectively to solve the problem of planning paths traversing diagonal obstacles, and the effectiveness of the improved bidirectional A* algorithm to avoid traversing diagonal obstacles was verified through simulations. The path inflection points were optimized by introducing the cubic B-spline curve, and the paths before and after smoothing were tracked and controlled, respectively by using the differential-driven mobile robot. The differential mobile robot's sudden changes in velocity and acceleration were effectively mitigated. The results prove the effectiveness of the improved bidirectional A* algorithm to avoid the diagonal obstacles and improve the path smoothness.

Key words: path planning, fusion algorithm, path smoothing, bidirectional search, spline curve

中图分类号:

TP391.9

陈梦源,乔贵方,邹旭等 . 改进双向A*算法的移动机器人路径平滑处理研究[J]. 系统仿真学报, 2025, 37(11): 2804-2811.

Chen Mengyuan,Qiao Guifang,Zou Xu,et al . Research on Path Smoothing Processing of Mobile Robot Based on Improved A* Algorithm[J]. Journal of System Simulation, 2025, 37(11): 2804-2811.

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参数	符号	单位	参数值
车轮半径	R	m	0.1
轮距	L	m	0.5
初始位姿	[x,y,θ]	rad	[0,0,0]
跟踪控制器的预瞄距离	L_d	m	0.3
期望线速度	V	m/s	0.75
最大角速度	ω	rad/s	0.75

改进双向A*算法的移动机器人路径平滑处理研究

Research on Path Smoothing Processing of Mobile Robot Based on Improved A* Algorithm

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