智能小车路径选取算法比较

Comparison of path selection algorithms for smart car

为解决智能装配系统装配零件运输最短时间问题,对智能小车在优化好的路径中寻求耗时最短的最优路径,在算法选择上提供了一些算法的核心思想以及结果比较。若考虑实际操作运输过程中的遮挡关系、障碍物的绕行等实际情况,为此提供了Dijkstra算法、A^(*)算法、JPS算法、A^(*)算法+JPS算法的优化这几个路径优化算法来对路径进行选择,其中Dijkstra算法搜索速度缓慢;A^(*)算法时间效率上有所提高,但存在计算量过大和内耗过大的问题;JPS算法不能适应复杂地形,搜寻时间效率优于Dijkstra算法,但逊于A^(*)算法;A^(*)算法+JPS算法的优化精度更高,时间效率优于前3种算法,建议在智能小车实际应用中采用。

In order to solve the problem of the shortest transportation time of assembly parts in the intelligent assembly system,the core ideas of some algorithms and the comparison of results are provided for the smart car to seek the shortest time-consuming optimal path in the optimized path.Considering the occlusion relationship in the actual operation and transportation process and the detour of obstacles,Dijkstra algorithm,A^(*)algorithm,JPS algorithm,A^(*)algorithm+JPS algorithm are provided to select the path,in which Dijkstra algorithm has a slow search speed;A^(*)the time efficiency of the algorithm is improved,but there are problems of too much computation and too much internal friction;JPS algorithm can not adapt to complex terrain,and the search time efficiency is better than Dijkstra algorithm,but inferior to A^(*)algorithm.A^(*)algorithm+JPS algorithm has higher optimization accuracy and better time efficiency than the first three algorithms.It is recommended to be applied in the practical application of smart car.