Knowledge Commons of Institute of Automation,CAS
A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments | |
Mi, Kai1,2; Zheng, Jun1; Wang, Yunkuan1; Hu, Jianhua1 | |
发表期刊 | IEEE ACCESS |
ISSN | 2169-3536 |
2019 | |
卷号 | 7期号:-页码:135870-135881 |
通讯作者 | Zheng, Jun(jun.zheng@ia.ac.cn) |
摘要 | We consider the problem of planning an obstacle avoidance path for manipulators in cluttered environments especially with narrow passages. Compared to sampling-based planners, heuristic search-based planners are more suitable for such environments due to the consistent heuristic guidance. In order to solve the problem of search stagnation caused by inappropriate heuristic guidance, we use the Shared Multi-Heuristic A* (SMHA*) algorithm and predefine multiple inadmissible heuristics. Meanwhile, when the consistent heuristic guidance is correct and appropriate, in order to avoid the unnecessary inadmissible heuristics to increase the search burden, we improve it by adding heuristic-based stagnation detection for each extended node and the improved algorithm is called SD-SMHA*. Only when the algorithm detects that it ceases to make significant progress towards the goal, the predefined inadmissible heuristics will be introduced. Finally, multiple simulation experiments are carried out and the results show that the improved algorithm effectively improves the planning efficiency and planning success rate in different scenarios. |
关键词 | Path planning obstacle avoidance search-based planner stagnation detection multi-heuristic A* |
DOI | 10.1109/ACCESS.2019.2941537 |
关键词[WOS] | MOTION ; SEARCH |
收录类别 | SCI |
语种 | 英语 |
资助项目 | Major Science and Technology Project of Henan Province[161100210300] ; Major Science and Technology Project of Henan Province[161100210300] |
项目资助者 | Major Science and Technology Project of Henan Province |
WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
WOS类目 | Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications |
WOS记录号 | WOS:000498686700002 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能机器人 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/29334 |
专题 | 中科院工业视觉智能装备工程实验室_先进制造与自动化 |
通讯作者 | Zheng, Jun |
作者单位 | 1.Chinese Acad Sci, Inst Automat, Intelligent Mfg Technol & Syst Res Ctr, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Comp Sci & Technol, Beijing 100049, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Mi, Kai,Zheng, Jun,Wang, Yunkuan,et al. A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments[J]. IEEE ACCESS,2019,7(-):135870-135881. |
APA | Mi, Kai,Zheng, Jun,Wang, Yunkuan,&Hu, Jianhua.(2019).A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments.IEEE ACCESS,7(-),135870-135881. |
MLA | Mi, Kai,et al."A Multi-Heuristic A* Algorithm Based on Stagnation Detection for Path Planning of Manipulators in Cluttered Environments".IEEE ACCESS 7.-(2019):135870-135881. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Multi-Heuristic A (8897KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论