基于改进A*算法的可行性路径搜索及优化  

Advanced A* Algorithm for Path-Finding and Optimization

作　　者：高庆吉[1] 于咏生[1] 胡丹丹[1] 

机构地区：[1]中国民用航空学院机器人研究所

出　　处：《中国民航学院学报》2005年第4期42-45,共4页Journal of Civil Aviation University of China

摘　　要：针对路径搜索和路径优化问题,提出了一种改进的A*搜索算法。对估价函数予以加权处理,并引入“人工搜索标志”,避免重复搜索无效区域,能有效且快速地逃离障碍物陷阱,使得算法在未知环境中能有效准确地找到可行性路径,并对可行性路径进行了优化,得到最短路径。仿真实验证明了算法的有效性和适应性。An advanced A＊ algorithm is proposed in this paper to solve the path-finding and path-optimization problem. In order to avoid searching in invalid region repeatedly and escape from the obstacle traps,the algorithm modifies the weight of the estimate function and proposes the artificial searching signs. As a result,a valid path is found in the unknown environment and then optimized. The feasibility and efficiency of the algorithm have been proved in the simulation tests.

关 键 词：路径搜索 A＊算法 路径优化 搜索标志 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]