改进双向A\*算法在室内机器人导航全局路径规划中的应用

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关键词：机器人导航；改进双向 A* 算法；路径搜索；特殊地形；逼近法；冗余节点中图号分类：TN919-34；TP242 文献标识码：A 文章编号：1004-373X（2026）09-0172-06

Improved bidirectional A* algorithm for global path planning in indoor robot navigation

PengZhen，LuoXiaolong，MinChenyu，XiangLongwei （SchoolofGeosciences，YangtzeUniversity，Wuhan43o1oo，China）

Abstract：Inviewoftheexcessveredundant nodesandloweficiencyinthetraditionalpathplanningalgorithmsfor complex indoor environments（multi-enclosedand single-exit terrain），this paper proposesan improvedbidirectional A* algorithm. Thedynamicstartingpointsaregeneratedbymidpointoffsetandjumppointcalculation，soastoalignactualdirectionwith target direction of the starting points.The XY -approximation strategyis implemented to reduce invalid nodes in the exploration. Theheuristicfunctionisimproved，theobstaclesaretakenintoaccount，anincrementisadedtotheestimatedcost，andthe ratioofthenode-to-targetdistanetothestart-enddistaneistakenastheattenuationfactoroftheincrement.Simulation comparisons with A* ，weighted A* ，bidirectional A*，and jump point search demonstrate that the improved method shows superiorityinexplorednodes，computation time，andmemoryconsumptionandmaintainsnear-optimal paths.This method isapplicableinroboticnavigation，smartwarehousing，andotherelectronictechnologyfields，offeringeficientsolutionsfor low-computational-power devices.

Keywords：roboticnavigation；improved bidirectionalA*algorithm；pathsearch；special terrain;approximationmethod; redundant node

0 引言

寻路算法在机器人导航、自动驾驶、智能仓储等领域有很大的研究价值[1-4]。（剩余9070字）