基于改进A*算法的特种车辆路径规划研究

Research on special vehicle path planning based on improved A* algorithm

针对传统A*算法在解决特种车辆路径规划问题时存在的不足,从调整评价函数计算方法、评价函数权重比例、路径生成策略三个方面着手进行传统算法的改进,设计了两种不同规模的仿真边界,并在Matlab环境下检验了算法的可行性和有效性。试验结果表明,改进后的A*算法能有效提高无人车的路径搜索能力,缩短搜索时间,可为特种车辆的实战化运用提供算法支持。

Aiming at the shortcomings of the traditional A*algorithm in solving the path planning problem of special vehicles,the improvement of the traditional algorithm is carried out from three aspects:evaluation function calculation method,evaluation function weight proportion,and path generation strategy,and two different scale simulation boundaries are designed,and the feasibility and effectiveness of the algorithm are tested in Matlab environment.The test results show that the improved A*algorithm can effectively improve the path search capability of unmanned vehicles,shorten the search time,and provide algorithmic support for the operational use of special vehicles.