Research on path planning for construction robots based on improved A* algorithm
An improved A* algorithm was proposed to address the problem of planning a safe and obstacle-free path for construction robots on construction sites. Firstly, by optimizing the search point selection strategy of the A* algorithm, on the basis of the 8-neighborhood node search used in the traditional...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Hebei University of Science and Technology
2024-12-01
|
| Series: | Journal of Hebei University of Science and Technology |
| Subjects: | |
| Online Access: | https://xuebao.hebust.edu.cn/hbkjdx/article/pdf/b202406010?st=article_issue |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841559965438836736 |
|---|---|
| author | Zhenshuai WU Tianfei REN Jiahui LI Yiying MA Cheng SHANG Youzhi REN |
| author_facet | Zhenshuai WU Tianfei REN Jiahui LI Yiying MA Cheng SHANG Youzhi REN |
| author_sort | Zhenshuai WU |
| collection | DOAJ |
| description | An improved A* algorithm was proposed to address the problem of planning a safe and obstacle-free path for construction robots on construction sites. Firstly, by optimizing the search point selection strategy of the A* algorithm, on the basis of the 8-neighborhood node search used in the traditional algorithms, it was extended to 24-neighborhoods for search and partially discarded. At the same time, obstacles were inflated to leave enough safe distance to avoid collisions during motion. Then, the heuristic function in the evaluation function was improved by introducing the obstacle ratio K. Finally, for the inflection points in the path, Bezier curves were used to smooth the path and improve its continuity. The experimental simulation results show that the search node count, path length, and planning efficiency of improved A* algorithm are higher than those of traditional A* algorithm, and the path is smoother. The proposed algorithm effectively improves the search efficiency of paths and enhances the feasibility of global routes for construction robots, providing reference for path planning of construction robots. |
| format | Article |
| id | doaj-art-0e819e9d661748719d006a510dbf011a |
| institution | Kabale University |
| issn | 1008-1542 |
| language | zho |
| publishDate | 2024-12-01 |
| publisher | Hebei University of Science and Technology |
| record_format | Article |
| series | Journal of Hebei University of Science and Technology |
| spelling | doaj-art-0e819e9d661748719d006a510dbf011a2025-01-05T06:35:22ZzhoHebei University of Science and TechnologyJournal of Hebei University of Science and Technology1008-15422024-12-0145665366110.7535/hbkd.2024yx06010b202406010Research on path planning for construction robots based on improved A* algorithmZhenshuai WU0Tianfei REN1Jiahui LI2Yiying MA3Cheng SHANG4Youzhi REN5School of Mechanical Engineering, Hebei University of Science and Technology, Shijiazhuang, Hebei 050018, ChinaSchool of Mechanical Engineering, Hebei University of Science and Technology, Shijiazhuang, Hebei 050018, ChinaSchool of Mechanical Engineering, Hebei University of Science and Technology, Shijiazhuang, Hebei 050018, ChinaSchool of Mechanical Engineering, Hebei University of Science and Technology, Shijiazhuang, Hebei 050018, ChinaSchool of Mechanical Engineering, Hebei University of Science and Technology, Shijiazhuang, Hebei 050018, ChinaSchool of Mechanical Engineering, Hebei University of Science and Technology, Shijiazhuang, Hebei 050018, ChinaAn improved A* algorithm was proposed to address the problem of planning a safe and obstacle-free path for construction robots on construction sites. Firstly, by optimizing the search point selection strategy of the A* algorithm, on the basis of the 8-neighborhood node search used in the traditional algorithms, it was extended to 24-neighborhoods for search and partially discarded. At the same time, obstacles were inflated to leave enough safe distance to avoid collisions during motion. Then, the heuristic function in the evaluation function was improved by introducing the obstacle ratio K. Finally, for the inflection points in the path, Bezier curves were used to smooth the path and improve its continuity. The experimental simulation results show that the search node count, path length, and planning efficiency of improved A* algorithm are higher than those of traditional A* algorithm, and the path is smoother. The proposed algorithm effectively improves the search efficiency of paths and enhances the feasibility of global routes for construction robots, providing reference for path planning of construction robots.https://xuebao.hebust.edu.cn/hbkjdx/article/pdf/b202406010?st=article_issuerobot control; construction robot; route planning; swelling treatment; a* algorithm; bezier curve |
| spellingShingle | Zhenshuai WU Tianfei REN Jiahui LI Yiying MA Cheng SHANG Youzhi REN Research on path planning for construction robots based on improved A* algorithm Journal of Hebei University of Science and Technology robot control; construction robot; route planning; swelling treatment; a* algorithm; bezier curve |
| title | Research on path planning for construction robots based on improved A* algorithm |
| title_full | Research on path planning for construction robots based on improved A* algorithm |
| title_fullStr | Research on path planning for construction robots based on improved A* algorithm |
| title_full_unstemmed | Research on path planning for construction robots based on improved A* algorithm |
| title_short | Research on path planning for construction robots based on improved A* algorithm |
| title_sort | research on path planning for construction robots based on improved a algorithm |
| topic | robot control; construction robot; route planning; swelling treatment; a* algorithm; bezier curve |
| url | https://xuebao.hebust.edu.cn/hbkjdx/article/pdf/b202406010?st=article_issue |
| work_keys_str_mv | AT zhenshuaiwu researchonpathplanningforconstructionrobotsbasedonimprovedaalgorithm AT tianfeiren researchonpathplanningforconstructionrobotsbasedonimprovedaalgorithm AT jiahuili researchonpathplanningforconstructionrobotsbasedonimprovedaalgorithm AT yiyingma researchonpathplanningforconstructionrobotsbasedonimprovedaalgorithm AT chengshang researchonpathplanningforconstructionrobotsbasedonimprovedaalgorithm AT youzhiren researchonpathplanningforconstructionrobotsbasedonimprovedaalgorithm |