基于栅格环境搜索树的配送路径局部规划

Local Planning of Distribution Path Based on Grid Environment Search Tree

为提高配送路径规划算法的有效性,提出一种基于栅格环境Morphin搜索树的配送局部路径规划算法。首先,根据配送城市路况复杂性,利用动力学轨迹模型对配送路径进行建模,模拟配送过程的车辆行驶状态,并给出车辆运行饱和时间指标判别方法;其次,引入Morphin搜索树算法对配送路径的动力学轨迹模型进行优化搜索,同时为提高模型优化精度,提出一种基于栅格环境的Morphin搜索树改进方法,有助于降低路径规划中障碍物碰撞问题;最后,通过在SUMO和OMNET平台上仿真实验,显示所提路径规划算法具有更佳的车辆滞留控制和更低的碳排放效果,验证了算法的有效性。

In order to improve the effectiveness of the distribution path planning algorithm,a distribution local path planning algorithm based on grid environment Morphin search tree is proposed.First of all,according to the complexity of the distribution city road conditions,the distribution path is modeled by using the dynamic trajectory model to simulate the vehicle driving state in the distribution process,and the method to determine the saturation time index of the vehicle running is given.Secondly,the dynamic trajectory model of the distribution path is optimized by introducing the Morphin search tree algorithm.At the same time,in order to improve the optimization accuracy of the model,a method based on the improved Morphin search tree method in grid environment is helpful to reduce the collision of obstacles in path planning.Finally,through the policy experiment on SUMO and OMNET platform,it shows that the proposed path planning algorithm has better vehicle detention control and lower carbon emission effect,which proves the effectiveness of the algorithm.