摘要
随着汽车保有量的不断增加,交通故障和事故也随之增多,无人驾驶技术在降低道路交通事故发生率方面有着重要的研究意义和实际应用价值。无人车进行路径规划时可用的算法较多,在静态环境中,A*算法是搜索最短路径最有效的方法之一。针对传统A*算法本身为有损算法无法得到最优解、搜索路径耗时长及路径转折点多等缺点,以传统A*算法为基础,通过建立栅格地图,提出一种新的搜索优先级启发式信息,并将该启发式信息引入传统A*算法的启发函数里,构成新的启发函数,即提出一种改进A*算法。通过对仿真实验结果进行分析比较,验证了改进算法的有效性,实现了路径优化的目标。
With the continuous increase of car ownership,traffic breakdowns and accidents are also increasing,driverless technology has important significance and practical value in reducing the rate of traffic accidents.There are many algorithms available for path planning of unmanned vehicles.In a static environment,A*algorithm is one of the most effective methods in searching the shortest path.This paper aims at the problems that traditional A*algorithm can't get the optimal solution and it takes a long time to search a path,the path involving too many turning points.Based on the traditional A*algorithm,by establishing a grid map,new search priority heuristic information was proposed,and then such heuristic information was introduced into the heuristic function of traditional A*algorithm to form a new heuristic function,that is,an improved A*algorithm was proposed.By comparing the simulation test results,the effectiveness of the improved algorithm was verified,thereby realizing the path optimization target.
作者
李琼琼
施杨洋
布升强
杨家富
LI Qiong-qiong;SHI Yang-yang;BU Sheng-qiang;YANG Jia-fu(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing Jiangsu 210037,China)
出处
《林业机械与木工设备》
2020年第6期45-49,共5页
Forestry Machinery & Woodworking Equipment
基金
国家公益性行业科研专项重大项目(201404402-03)
南京市科技创新项目(2015CG047)。
关键词
无人车
路径规划
栅格地图
A*算法
路径优化
unmanned vehicle
path planning
grid map
A*algorithm
path optimization
