An Optimal Node A* Algorithm for Path Planning of Wheeled Mobile Robot Under Optimal Energy Consumption
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摘要: 轮式移动机器人以蓄电池作为能源，能够提供的能量有限，以更省能量作为前提进行路径规划是一个热门研究方向。根据轮式移动机器人在运行时的能耗组成，综合电机效率、地面摩擦、地形、速度变化、转弯等多因素，建立了能耗模型；基于A*算法，利用最优节点的搜索方式，提出能耗最优下轮式移动机器人作业路径规划最优节点A*算法；通过仿真实验，与最短距离约束条件、能耗最优约束条件下A*算法路径规划结果进行对比，所提算法既实现在单位距离能耗降低，又缩短规划寻路时间，验证了所提算法的有效性。Abstract: Batteries are used as the energy source of a wheeled mobile robot, which is, however, limited. Based on the composition of energy consumption of the wheeled mobile robot in operation, its energy consumption model is established by integrating the motor efficiency, ground friction, terrain, speed change, turning and other factors. The optimal node A* algorithm for the path planning of the wheeled mobile robot under optimal energy consumption is proposed with the optimal node search method. The simulation results, compared with the path planning results of the A* algorithm under the shortest distance constraint and optimal energy consumption constraint, show that the optimal node A* algorithm can not only reduce the energy consumption per unit distance but also shorten the path-finding time, thus verifying its effectiveness.
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表 1 轮式移动机器人相关参数
相关参数 数值 轮式移动机器人左右轮距B/cm 30 轮式移动机器人前后轴距L/cm 40 轮式移动机器人质量m/kg 9 轮式机器人驱动轮轮胎半径r/cm 10.75 电动机效率η 0.78 轮式移动机器人在平地上电机的功率P/w 200 
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表 2 仿真实验关键参数
实验参数 数 值 滚动摩擦系数μ 0.15 横向滑动附着系数f 0.6 重力加速度g/（m·s−2） 9.8 轮式移动机器人在平地上的运行速度v0/（m·s−1） 1 轮式移动机器人在爬坡时的运行速度vs/（m·s−1） 0.5 转弯耗时t/s 0.5
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表 3 三者的实验结果对比
算法 路径
长度/m能量
消耗/J单位距离
能耗/（J·m−1）算法寻路
时间/msONA* 266.42 31919.57 119.81 843.38 OEA* 266.82 34148.73 127.98 6443.5 ODA* 249.31 36223.42 145.29 1211.6
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