摘要
为解决传统A^*算法在船舶路径规划中存在的路径不平滑及大范围地图下搜索效率不高等问题,根据能量守恒定律对A^*算法中的评价函数进行重新定义,提出改进A^*算法;同时引入人工势场法(artificial potential field, APF),并对APF中的斥力场系数进行修正;结合2种改进方法,考虑欠驱动船舶的运动特性,设计出一种混合算法。通过MATLAB进行仿真对比,发现所提出的混合算法规划路径更优、效率更高。
In order to solve the problems of path unevenness and inefficiency of searching under large-scale maps in traditional A^* algorithm, the evaluation function of A^* algorithm is redefined according to conservation of energy, and an improved A^* algorithm is proposed. At the same time, artificial potential field (APF) is introduced, and the repulsion field coefficient in APF is revised by combining two modifications. Considering the motion characteristics of underactuated ships, a hybrid algorithm is designed. Matlab simulation shows that the proposed hybrid algorithm has better path planning efficiency and higher efficiency.
作者
郭建群
吴青
初秀民
谢朔
郑茂
GUO Jianqun;WU Qing;CHU Xiumin;XIE Shuo;ZHENG Mao(Wuhan University of Technology Engineering Research Center for Transportation Safe, Wuhan 430063, China;School of Logistics Engineering, Wuhan University of Technology, Wuhan 430063, China;School of Energy and Power Engineering, Wuhan University of Technology, Wuhan 430063, China)
出处
《交通科技》
2019年第5期135-140,共6页
Transportation Science & Technology
基金
国家重点研发计划（2018YFB1600404）
武汉市科技计划项目（2017010201010132）资助
关键词
欠驱动船舶
人工势场法
A^*算法
混合算法
underactuated ship
artificial potential field method
A^* algorithm
hybrid algorithm
