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分析A*算法耗时多的基础上,针对性地提出Lambda*算法,通过减少open表中保持的节点数,减少计算量,算法能在较少的时间里得到较优的路径。相对于A*算法,采用Lambda*进行路径规划,在2D环境下时耗减少了48.76%,在3D环境下时耗减少了30.11%。即使在复杂的3D环境中,Lambda*算法也能较快地获取较优的路径规划方案,更能适应现代工业机器人的快速路径规划的需求。
Based on the analysis of the time-consuming A * algorithm, the Lambda * algorithm is proposed in a targeted manner. By reducing the number of nodes kept in the open table and reducing the computational complexity, the algorithm can obtain a better path in less time. Compared with the A * algorithm, the path planning using Lambda * reduces the time consumption by 48.76% in 2D environment and 30.11% in 3D environment. Even in a complex 3D environment, Lambda * algorithm can obtain better path planning solutions faster and can better meet the requirements of modern industrial robots’ rapid path planning.