基于障碍信息的高效A-Star航路规划算法  

An Efficient A-Star Route Search Algorithm Based on Obstacle Information

作　　者：肖自兵 屈耀红[2] 袁冬莉[2] XIAO Zi-bing;QU Yao-hong;YUAN Dong-li(Jiangsu Automation Research Institute,Lianyungang 222061,China;School of Automation,Northwestern Polytechnical University,Xi’an 710072,China)

机构地区：[1]江苏自动化研究所,江苏连云港222061 [2]西北工业大学自动化学院,西安710072

出　　处：《火力与指挥控制》2018年第9期71-75,共5页Fire Control & Command Control

基　　金：国家自然科学基金资助项目(61473229)

摘　　要：在复杂障碍存在的情况下,针对传统A-Star航路规划算法节点扩展次数多、产生节点多、搜索效率低的缺点,提出了一种基于障碍信息的高效A-Star航路规划算法。该算法通过分析、使用障碍信息,制定合理的节点扩展策略、引入积极的航路导向机制,可有效减少节点扩展次数和扩展节点数量、提高搜索效率。仿真结果证明了算法的有效性。研究过程表明,提出的算法适用范围广、具有普遍性应用价值。When complex obstacles exist,A-Star route planning algorithm is inefficient because of high frequency of node expansion and a large number of nodes generated.To solve this problem,an efficient A-Star route planning algorithm based on obstacle information is proposed.By analyzing and using obstacle information,the algorithm makes reasonable strategy for node expansion,introduces positive mechanism to guide route so that the frequency of node expansion and the number of nodes generated decrease significantly,as a result,search efficiency increases.Simulation results prove the effectiveness of the algorithm.The research process indicates that,the algorithm proposed has universal applied value,can be used widely.

关 键 词：障碍信息 高效A-Star算法 搜索效率 航路规划 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构] TJ01[自动化与计算机技术—计算机科学与技术]