无人驾驶汽车路径规划仿真分析

本文介绍了应用于无人驾驶汽车路径规划中全局路径规划的A*算法,从规划结果出发,分析传统A*的缺陷,并提出16邻域改进算法。为提高规划效率,减少路径规划时间提出双向16邻域改进算法。并与24邻域及48邻域算法进行比较,模拟仿真实验显示,改进后的双向16邻域算法在规划空间和搜索效率均为最优,双向搜索16邻域算法规划的路径转角少,平顺性好,规划时间短,规划效率高。

This paper first introduces the applied to the unmanned vehicle path planning in the global path planning of A*algorithm.According to the planning results,analysis the defects of traditional A*,and put forward 16 neighborhood improvement algorithm to improve the efficiency of planning,path planning time bidirectional 16 neighborhood improvement algorithm and neighborhood 24 and 48 neighborhood algorithm,simulation experiments showed that the improved bidirectional 16 neighborhood algorithm in planning space and search efficiency is optimal,two-way 16 neighborhood search algorithm for planning the path to the corner,good comfort,planning time is short,the planning of high efficiency.