运动规划
平滑度
机器人
路径(计算)
起点
计算机科学
算法
点(几何)
A*搜索算法
蚁群优化算法
分类
任意角度路径规划
数学优化
计算机视觉
人工智能
数学
实时计算
终点
数学分析
程序设计语言
情报检索
几何学
作者
Jian Guo,Xiaojie Huo,Shuxiang Guo,Jiawei Xu
出处
期刊:International Conference on Mechatronics and Automation
日期:2021-08-08
被引量:2
标识
DOI:10.1109/icma52036.2021.9512805
摘要
In order to improve the autonomous navigation ability and mobility of spherical amphibious robot. A multiple target points path planning algorithm based on global static planning was proposed. Firstly, the A* algorithm is optimized for bidirectional smoothness, and the distance of each path is calculated. Secondly, according to this distance, the ant colony algorithm is used to sort multiple targets, and the global optimal path is planned. Finally, a series of simulations and experiments verify the proposed path planning method. The experimental results show that the robot successfully avoids obstacles from the starting point to the end point. On the one hand, the path distance of the robot is greatly shortened, on the other hand, the robot completes the path planning of multiple target points.
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