基于A~*的双向预处理改进搜索算法

Improved Search Algorithm Based on A~* for Bidirectional Preprocessing

本文针对传统A~*算法存在冗余路径点较多与单向搜索耗时较长的缺点,提出了一种改进A~*算法.该算法采用双向预处理结构减少冗余节点数,并通过归一化处理和增加节点标记信息进一步优化估价函数提高遍历速度.利用仿真软件对改进A~*算法进行实验,并与其它经典路径规划算法进行比较.仿真结果表明,改进后的A~*算法较于传统A~*算法能以较低的搜索节点数和搜索时长较好的完成全局路径规划.

In this study, an improved A* algorithm is proposed for the traditional A-star algorithm, which has many redundant path points and long-term one-way search. The proposed algorithm uses a bidirectional preprocessing structure to reduce the number of redundant nodes, and further optimizes the evaluation function to improve the traversal speed by normalizing the processing and adding node marker information. Simulation software is used to simulate the improved A* algorithm and compare with other classical path planning algorithms. The simulation results show that the improved A* algorithm can complete the global path planning with lower search node number and search duration than the traditional A* algorithm.