基于改进A^(*)算法的复杂停车场路径规划

Complex parking lot routine planning based on improved A^(*) algorithm

针对复杂停车场环境中的停车与寻车困难的问题,本文提出一种基于改进A^(*)算法的复杂停车场路径规划方法。通过对节点间代价进行统一量化以及对路径中的拐角进行修正,避免了不必要转向,优化了规划路径,提高了效率。并且基于仿真软件,根据实际停车场环境,建立环境地图进行仿真模拟;在相同条件下,对传统A^(*)算法、改进A^(*)算法与Dijkstra算法以及BFS算法进行仿真测试,对4种算法的路径规划时间、转向次数以及所规划路径的优劣进行了评估。仿真模拟结果表明改进后的A^(*)算法具有明显的优势。

Regarding to the difficulty of parking and searching in complex parking lot environment,this paper proposes a complex parking lot routine planning method based on improved A^(*)algorithm.By uniformly quantifying the cost between nodes and correcting the corners in the routine,unnecessary turning is avoided,the planned path is optimized and the efficiency is improved.Furtherly,based on the simulation studies,according to the actual parking environment scene,the environment map is established for simulation;under the same conditions,the traditional A^(*)algorithm,improved A^(*)algorithm,Dijkstra algorithm and BFS algorithm are simulated and tested,and the routine planning time,turning times and the advantages and disadvantages of the planned routine of the four algorithms are evaluated.Simulation results show that the improved A^(*)algorithm has obvious advantages.