改进A*算法，让机器人在考虑转向半径和尺寸时更安全地规划路径。
Enhanced $A^{*}$ Algorithm for Mobile Robot Path Planning with Non-Holonomic Constraints
- 基于栅格地图，增强A*算法以支持非完整约束
- 在多种场景下验证路径可行性与避障能力
- 适合需要精确转向控制的移动机器人应用
本文提出一种新型移动机器人路径规划方法，考虑了非完整转向半径约束及机器人有限尺寸。该方法将环境栅格化生成二维地图，并采用改进的A*算法，在保证碰撞避免的前提下融入非完整约束。文中提出了两种A*算法的新变体，在多个场景与环境中进行了测试，结果表明所提方法具有有效性。
原文摘要 · Abstract (English)
In this paper, a novel method for path planning of mobile robots is proposed, taking into account the non-holonomic turn radius constraints and finite dimensions of the robot. The approach involves rasterizing the environment to generate a 2D map and utilizes an enhanced version of the $A^{*}$ algorithm that incorporates non-holonomic constraints while ensuring collision avoidance. Two new instantiations of the $A^{*}$ algorithm are introduced and tested across various scenarios and environments, with results demonstrating the effectiveness of the proposed method.
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