【摘要】 为解决失能或半失能人群的生活自理问题，研究了自主定位导航智能装置，辅助人们实现坐、躺、立、蹲、行多体位变换需求。针对自主导航传统A~*算法中启发函数代价值小于实际值，导致搜索空间变大、路径冗余的问题，研究采用不同节点代价函数选取不同模型对A~*算法进行改进；通过建立OPEN表与CLOSE表，其中OPEN表存放待考察节点，CLOSE表存放不可考察节点，进行路径规划，增强方向性、提高算法的效率，改进的A~*算法在完成正则表达式约束下实现限制性查询路径，实现限制性的、全局的、最优的自主路径规划，提高了自主导航的实际应用效果。更多还原

【Abstract】 In order to solve the problem of self-care of disabled or semi-disabled people, an autonomous positioning and navigation intelligent device was studied to assist people to realize the needs of sitting, lying, standing, squatting and walking in multiple position changes.For the problem that the generation value of the heuristic function in the traditional A~* algorithm of autonomous navigation was smaller than the actual value, resulting in a larger search space and redundant paths, the research used different node cost functions to select different models to improve the A~* algorithm; by establishing the OPEN table and CLOSE table, in which the OPEN table stores the nodes to be investigated and the CLOSE table stores the non-investigable nodes, the path planning was carried out to enhance the directionality, improved the efficiency of the algorithm, the improved A~* algorithm implements restricted query paths under the completion of regular expression constraints to achieve restricted, global and optimal autonomous path planning, which improved the practical application of autonomous navigation.更多还原