【摘要】 针对经典A~*算法对于喷射混凝土机器人在煤矿巷道作业中存在求解路径容易转向、轨迹耗时长、搜索节点多、路径转折安全性能低等路径规划问题，提出一种改进的A~*算法。首先对启发函数权重优化，然后删除冗余节点，最后通过三次B样条曲线法降低喷浆机器人的路径转折角度，增加机器人工作的安全性。仿真结果表明：与现有算法相比，所提方案寻路时间节省了30%左右，平均节点个数减少了39%左右。更多还原

【Abstract】 Aiming at the problems of the classical A~* algorithm in the path planning of shotcrete robot in coal mine roadway operation, such as easy path turning, long track time, multiple search nodes and low safety performance of path turning, an improved A~* algorithm is proposed. Firstly, the weights of heuristics function is optimized, then the redundant nodes are eliminated, and finally the path turning angle of the gunite robot is reduced by cubic B-spline curve method to increase the safety of the robot. Simulation results show that compared with the existing algorithms, the path-finding time of the proposed schemes is saved by approximately 30% and the average number of nodes is reduced by about 39% compared to existing algorithms.更多还原