基于改进A^(*)算法的四向穿梭车路径规划

Fourway Shuttle Vehicle Path Planning Based on Improved A^(*)Algorithm

针对传统四向穿梭车系统路径规划易出现路径交叉死锁问题,提出一种改进A^(*)算法的路径规划算法。参考多辆穿梭车路径的路径交叉长度、路径冲突车辆总数对路径搜索的影响,使得多辆穿梭车路径分布均匀,减少车辆路径的点边冲突,降低实时路径检测中避让策略的复杂度,提高系统的稳定性与效率。栅格地图环境中,将该算法应用于复杂环境中的四向穿梭车路径规划,仿真结果表明,该算法在路径规划中是可行和有效的。

Aiming at the problem of path crossing deadlock in traditional fourway shuttle system path planning,a path planning algorithm based on improved A^(*)algorithm is proposed.By referring to the influence of the path crossing length of multiple shuttle vehicles and the total number of vehicles with path conflicts on the path search,a uniform path distribution of multiple shuttle vehicles is achieved,the pointside conflict of vehicle paths is reduced,the complexity of avoidance strategy in realtime path detection is reduced,and the stability and efficiency of the system is improved.In the raster map environment,the algorithm is applied to the fourway shuttle path planning in complex environment,and the system simulation shows that the algorithm is feasible and effective in the path planning.