【摘要】 A~*算法因为其较好的准确性特点被广泛应用于室内巡检机器人的路径规划，但A~*算法在进行路径规划时存在效率低、路径点多、路径代价大等问题，且在复杂环境下A~*算法在路径搜索过程中拐点较多，因此在实际应用时通常需要对A~*算法进行改进以提高算法使用性能。基于跳点搜索法提出使用优化修剪规则的有限跳点搜索法(Limited-JPS)，并结合角度代价函数、局部路径替换、去除路径冗余点和路径平滑等方法，提出基于Limited-JPS的改进A~*算法。为验证基于Limited-JPS的改进A~*算法的可行性与有效性，进行试验验证。试验结果表明，改进A~*算法在尽可能保证跳点搜索法有效性的前提下，在提高路径规划效率、减小路径代价和改善路径平滑性等方面均表现良好，且性能优于标准的A~*算法，从而证明改进A~*算法是有效的。更多还原

【Abstract】 A~* algorithm is widely used in path planning for indoor inspection robots because of its better accuracy characteristics, but A~* algorithm exists problems such as low efficiency, many path points, and high path cost in path planning, and A~* algorithm has more inflection points in path searching process in complex environments, so A~* algorithm usually needs to be improved to improve algorithm usage performance in practical applications. Based on the jump-point search method, we propose the limited jump-point search method(Limited-JPS) using optimized pruning rules, and combined with the angular cost function, local path replacement,removal of path redundancy points and path smoothing, we propose an improved A~* algorithm based on Limited-JPS. To verify the feasibility and effectiveness of the improved A~* algorithm based on Limited-JPS, experimental validation is performed. The experimental results show that the improved A~* algorithm performs well in improving the path planning efficiency, reducing the path cost and improving the path smoothing under the premise of guaranteeing the effectiveness of the jump point search method as much as possible, and its performance is better than that of the standard A~* algorithm, thus proving that the improved A~* algorithm is effective.更多还原