| 余星宝， 杨慧斌， 周玉凤， 闫健.改进A的4阶贝塞尔曲线路径规划[J].轻工机械,2020,38(6):64-67 |
| 改进A的4阶贝塞尔曲线路径规划 |
| Improved Path Planning of A Quartic Bezier Curve |
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| DOI：10.3969/j.issn.1005 2895.2020.06.012 |
| 中文关键词: 自动引导车（AGV） 路径规划 A算法 Bezier曲线 |
| 英文关键词:AGV (Automated Guided Vehicle) path planning A algorithm Bezier curve |
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| 中文摘要: |
| 自动引导车（AGV）路径规划时，传统的A算法存在应对障碍物时生成路径平滑度低、累计折角多、易碰撞等问题，课题组提出一种利用Bezier曲线与A算法相结合的路径优化算法。首先利用A算法在有障碍物的栅格地图上规划出最短路径，找出路径转弯处的特征点；然后利用4阶Bezier曲线在2个特征点生成一条满足安全避障距离、具有一定曲率、路径相对更短的Bezier曲线；最后结合A算法生成的直线和Bezier曲线得到一条新的无碰撞曲线。试验结果表明在2种不同的障碍物密度下，课题组提出的新算法比传统A算法路径长度平均减少5.5%、转弯角度平均减少654%、碰撞次数平均减少100%。新算法法使AGV路径规划可减少路径长度和转弯角度，提高了AGV的工作效率和安全性能。 |
| 英文摘要: |
| Aiming at the problems in the path planning of AGV of the traditional A algorithm, such as low smoothness of the generated path, multiple accumulated angles, and easy collision when dealing with obstacles, a path optimization algorithm combining Bezier curve and A algorithm was proposed. First, the A algorithm was used to plan the shortest path on the grid map with obstacles and find out the characteristic points at the turn of the path; then the quadruple Bezier curve was used to generate a Bezier curve with safe obstacle avoidance distance, certain curvature and relatively shorter path at the two characteristic points; finally, a new collision free curve was obtained by combining the straight line generated by the A algorithm and the Bezier curve. Experimental results show that under different obstacle densities, the proposed algorithm reduces the path length by 5.5% on average, the turning angle by 65.4% on average, and the number of collisions by 100% on average compared with the traditional A algorithm. The proposed method can reduce the path length for AGV path planning and turning angle, and improve the work efficiency and safety performance of AGV. |
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