基于分级规划策略的A*算法多航迹规划  

Multiple routes planning for A*algorithm based on hierarchical planning

作　　者：李枭扬 周德云[1] 冯琦[1] 

机构地区：[1]西北工业大学电子信息学院,陕西西安710072

出　　处：《系统工程与电子技术》2015年第2期318-322,共5页Systems Engineering and Electronics

基　　金：国家自然科学基金(61401363)资助课题

摘　　要：为了避免设置运行参数,稳定地生成多条航迹,提出一种基于分级规划策略的A*算法多航迹规划技术。采用分级规划策略将规划过程分成初始航迹规划和精细航迹规划两部分。在初始航迹规划中,通过设置中间航迹点并利用A*算法得到多条初始可行航迹,然后为了避免K均值算法对初始聚类中心敏感的问题,提出采用层次聚类法对所得到的初始可行航迹进行聚类,得到初始参考航迹。在精细航迹规划中,设计了一种变宽度的航迹规划通道,并在通道内进行航迹规划以得到最终的多条航迹。仿真实验证明了算法的可行性。In order to avoid setting operating parameters and generate multiple routes steadily, a multiple routes planning for the A＂ algorithm based on hierarchical planning is proposed. The hierarchical planning is in- troduced to divide the planning process into two parts, the initial route planning and the fine route planning. In the initial route planning, many feasible routes are obtained by setting the middle route point and the A＊algo- rithm, then the hierarchical clustering method is presented to obtain the initial reference route so as to avoid the weakness of K-means clustering sensitive to the initial clustering center. In the fine route planning, a variable width path planning channel is designed, and the final multiple routes are obtained by planning in the channel. Simulation results prove the feasibility of the algorithm.

关 键 词：多航迹规划 A＊算法 层次聚类 分级规划 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]