一种基于复杂环境信息的导航路径动态规划算法

A navigation path dynamic programming algorithm based on complex environment information

针对现有路径规划算法受复杂环境信息影响较大的原因,该文通过分析环境信息,综合考虑行车的时效性、安全性要求,提出一种动态路径规划辅助决策方法。该方法通过对实时环境信息进行建模和量化处理,得到不同环境特征下的道路实际权重,为路径动态规划提供先决条件;然后利用基于一阶马尔可夫链的动态路径规划算法对路径进行规划,计算出若干可选路径可供驾驶员根据实际情况进行抉择;并通过与静态权值的路径分析算法相比较得到,它能够更好地满足复杂环境信息下最优路径的规划需求,算法效率受环境因素影响较小。

In view of the lack that the existing route planning algorithm is greatly influenced by complex environment characteristic information,and considering the timeliness,security requirements of driving,this paper proposed a dynamic path planning decision support method through analysis of environmental characteristic.First,through the real-time environmental information modeling and quantitative processing,the road actual weights under different environmental characteristics was got,thus prerequisites for dynamic path planning was provided.Then the dynamic path planning algorithm based on the firstorder Markov chain was used to plan path and calculate several alternative paths available for the driver to make choices based on the actual situation.Finally,by comparing with the path analysis algorithm based on the static weights,it was found that this algorithm could better satisfy the optimal path planning requirements under the complex environment information,and the algorithm efficiency was less affected by environmental factors.