运动规划
机器人
能源消耗
算法
地形
网格
路径(计算)
启发式
计算机科学
数学优化
职位(财务)
欧几里德距离
能量(信号处理)
光学(聚焦)
数学
人工智能
工程类
地理
几何学
统计
物理
地图学
光学
财务
电气工程
经济
程序设计语言
作者
H. Y. Ge,Zhanfeng Ying,Zhihua Chen,Wei Zu,Chunzheng Liu,Yong Jin
出处
期刊:Sensors
[MDPI AG]
日期:2023-08-11
卷期号:23 (16): 7115-7115
被引量:3
摘要
Spherical robots have fully wrapped shells, which enables them to walk well on complex terrains, such as swamps, grasslands and deserts. At present, path planning algorithms for spherical robots mainly focus on finding the shortest path between the initial position and the target position. In this paper, an improved A* algorithm considering energy consumption is proposed for the path planning of spherical robots. The optimization objective of this algorithm is to minimize both the energy consumption and path length of a spherical robot. A heuristic function constructed with the energy consumption estimation model (ECEM) and the distance estimation model (DEM) is used to determine the path cost of the A* algorithm. ECEM and DCM are established based on the force analysis of the spherical robot and the improved Euclidean distance of the grid map, respectively. The effectiveness of the proposed algorithm is verified by simulation analysis based on a 3D grid map and a spherical robot moving with uniform velocity. The results show that compared with traditional path planning algorithms, the proposed algorithm can minimize the energy consumption and path length of the spherical robot as much as possible.
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