关键词: 车间环境, 先验知识引导, 自适应A^*算法, 模糊DWA算法, 环境复杂度

Abstract: Aiming at the problem of robot path planning in workshop dynamic environment,a path planning method based on fuzzy DWA algorithm guided by prior knowledge was proposed. Considering the invariability of the static environment of the workshop,an adaptive A^* algorithm for global path planning was designed,and it was used as a prior information to guide the robot movement. The robot kinematics model was established,and a local path planning method based on fuzzy DWA was proposed under the guidance of prior information. This method can fuzzy adjust the weight of the evaluation function according to the complexity of the environment. The experimental results show that in the 30 m×30 m grid environment,the path length planned by the hybrid A^* algorithm is 51.32 m,and the path length planned by the adaptive A^* algorithm is 46.83 m,which is 8.75 % less than that of the hybrid A^* algorithm; in the local path planning,the security,flexibility and length of the fuzzy DWA algorithm are better than the standard DWA algorithm,which verifies the superiority of the fuzzy DWA algorithm.

Key words: workshop environment, prior knowledge guidance, adaptive A^* algorithm, fuzzy DWA algorithm, environmental complexity