Automatic path planning of robot for integrated installation of large laser device

Chen Jing; Du Weifeng; Pei Guoqing; Xiong Zhao; Yang Ke; Zhou Hai

doi:10.11884/HPLPB202537.240360

Article Contents

Article Navigation > High Power Laser and Particle Beams > 2025 > Accepted Manuscript

Chen Jing, Du Weifeng, Pei Guoqing, et al. Automatic path planning of robot for integrated installation of large laser device[J]. High Power Laser and Particle Beams. doi: 10.11884/HPLPB202537.240360

Citation:

Chen Jing, Du Weifeng, Pei Guoqing, et al. Automatic path planning of robot for integrated installation of large laser device[J]. High Power Laser and Particle Beams. doi: 10.11884/HPLPB202537.240360

Chen Jing, Du Weifeng, Pei Guoqing, et al. Automatic path planning of robot for integrated installation of large laser device[J]. High Power Laser and Particle Beams. doi: 10.11884/HPLPB202537.240360

Citation:

PDF( 1186 KB)

Automatic path planning of robot for integrated installation of large laser device

doi: 10.11884/HPLPB202537.240360

Laser Fusion Research Center, CAEP, Mianyang 621900, China

Received Date: 2024-10-15
Accepted Date: 2025-03-24
Rev Recd Date: 2025-04-13

Available Online: 2025-04-23

Abstract

Abstract

A simple and effective improved A* algorithm is proposed to solve the problem of robot path planning in the integrated installation of large-scale laser devices. Compared with the traditional A* algorithm, the algorithm has been improved in three steps. Firstly, the walking direction is limited, which avoids the phenomenon of crossing obstacles occurred in the traditional A* algorithm; Secondly, the heuristic function is optimized as a weighted Manhattan distance function, which accelerates the expansion of nodes to X direction or Y direction, and reduces the surge of traversal nodes caused by limiting the walking direction. Thirdly, the turning penalty term is introduced to reduce the turning times in the path planning process, and improve the search efficiency and quality. The performance of the three-step improved A* algorithm is verified in different size raster maps, and compared with the traditional A* algorithm. Experimental results show that in simple maps, the number of nodes traversed by the three-step improved A* algorithm is slightly higher than that of the traditional A* algorithm, and the number of turns is equivalent to that of the traditional A* algorithm, but the obstacle avoidance performance is obviously better than that of the traditional A* algorithm, which is more conducive to the safe walking of robots. In complex maps, considering the priority relationship of traversal nodes, turn times and path length, the parameters of the three-step improved A* algorithm can be adjusted to obtain the optimal path planning result.
- path planning,
- A* algorithm,
- limiting the walking direction,
- weighted Manhattan distance,
- turning penalty term

FullText(HTML)

References(13)

References

[1]	郑万国, 邓颖, 周维, 等. 激光聚变研究中心激光技术研究进展[J]. 强激光与粒子束, 2013, 25(12):3082-3090 doi: 10.3788/HPLPB20132512.3082 Zheng Wanguo, Deng Ying, Zhou Wei, et al. Development of laser technology in research center of laser fusion[J]. High Power Laser and Particle Beams, 2013, 25(12): 3082-3090 doi: 10.3788/HPLPB20132512.3082
[2]	熊召, 尹灵钰, 裴国庆, 等. 面向大型激光装置的智能装配调度[J]. 强激光与粒子束, 2023, 35:092002 doi: 10.11884/HPLPB202335.230170 Xiong Zhao, Yin Lingyu, Pei Guoqing, et al. Intelligent assembly scheduling for large laser devices[J]. High Power Laser and Particle Beams, 2023, 35: 092002 doi: 10.11884/HPLPB202335.230170
[3]	Dijkstra E W. A note on two problems in connexion with graphs[J]. Numerische Mathematik, 1959, 1(1): 269-271. doi: 10.1007/BF01386390
[4]	李鼎鑫. 复杂环境下移动机器人路径规划方法研究与应用[D]. 北京: 北京工业大学, 2021: 1-5 Li Dingxin. Research and application of path planning method for mobile robot in complex environment[D]. Beijing: Beijing University of Technology, 2021: 1-5
[5]	Guruji A K, Agarwal H, Parsediya D K. Time-efficient A* algorithm for robot path planning[J]. Procedia Technology, 2016, 23: 144-149. doi: 10.1016/j.protcy.2016.03.010
[6]	Qi Jie, Yang Hui, Sun Haixin. MOD-RRT*: a sampling-based algorithm for robot path planning in dynamic environment[J]. IEEE Transactions on Industrial Electronics, 2021, 68(8): 7244-7251. doi: 10.1109/TIE.2020.2998740
[7]	Luo Qiang, Wang Haibao, Zheng Yan, et al. Research on path planning of mobile robot based on improved ant colony algorithm[J]. Neural Computing and Applications, 2020, 32(6): 1555-1566. doi: 10.1007/s00521-019-04172-2
[8]	Ajeil F H, Ibraheem I K, Azar A T, et al. Grid-based mobile robot path planning using aging-based ant colony optimization algorithm in static and dynamic environments[J]. Sensors, 2020, 20: 1880. doi: 10.3390/s20071880
[9]	Xin Junfeng, Zhong Jiabao, Yang Fengru, et al. An improved genetic algorithm for path-planning of unmanned surface vehicle[J]. Sensors, 2019, 19: 2640. doi: 10.3390/s19112640
[10]	吕太之, 赵春霞, 夏平平. 基于同步可视图构造和A算法的全局路径规划[J]. 南京理工大学学报, 2017, 41(3):313-321 Lv Taizhi, Zhao Chunxia, Xia Pingping. Global path planning based on simultaneous visibility graph construction and A algorithm[J]. Journal of Nanjing University of Science and Technology, 2017, 41(3): 313-321
[11]	孔继利, 张鹏坤, 刘晓平. 双向搜索机制的改进A算法研究[J]. 计算机工程与应用, 2021, 57(8):231-237 doi: 10.3778/j.issn.1002-8331.2002-0016 Kong Jili, Zhang Pengkun, Liu Xiaoping. Research on improved A algorithm of bidirectional search mechanism[J]. Computer Engineering and Applications, 2021, 57(8): 231-237 doi: 10.3778/j.issn.1002-8331.2002-0016
[12]	郭晓静, 杨卓橙. 基于邻域拓展的静态路径规划A算法研究[J]. 计算机工程与应用, 2022, 58(8):168-174 doi: 10.3778/j.issn.1002-8331.2010-0222 Guo Xiaojing, Yang Zhuocheng. Improved A algorithm based on neighbor extension in static environment[J]. Computer Engineering and Applications, 2022, 58(8): 168-174 doi: 10.3778/j.issn.1002-8331.2010-0222
[13]	胡蔚旻, 靳文舟. 改进平滑A算法的多AGV路径规划[J]. 计算机工程与应用, 2020, 56(16):204-210 doi: 10.3778/j.issn.1002-8331.2001-0090 Hu Weimin, Jin Wenzhou. Multi-AGV path planning based on improved smooth A algorithm[J]. Computer Engineering and Applications, 2020, 56(16): 204-210 doi: 10.3778/j.issn.1002-8331.2001-0090