【摘要】 针对传统4领域4方向搜索方式和8领域8方向搜索方式的A*路径规划算法寻优路径中节点数量过多问题，论文提出一种16领域16方向搜索方式改进的A*路径规划算法用来减少路径轨迹中的节点数量。针对改进A*算法和传统A*算法在不同规模、不同障碍物比例的栅格地图环境下进行Matlab仿真对比，结果表明改进A*算法在总路程变化很小的同时，使整体路径规划路线中节点减少，提高了AGV工作效率。更多还原

【Abstract】 Aiming at the problem of too many nodes in the traditional A* path planning algorithm with four fields and four directions and eight fields and eight directions,this paper proposes an improved A* path planning algorithm with 16 fields and 16 directions to reduce the number of nodes in the path. Compared with the traditional A* algorithm,the improved A* algorithm is simulated by Matlab in the grid map environment with different scales and different proportions of obstacles. The results show that the improved A* algorithm can reduce the number of nodes in the overall path planning route and improve the working efficiency of AGV.更多还原