基于改进A~*算法的智能车路径规划研究  

Research on Global Path Planning for Intelligent Vehicles Based on Improved A~* Algorithm

作　　者：沈刚 邵金菊[1] 谭德荣[1] 牛亚明 马晓田 Shen Gang;Shao Jinju;Tan Derong;Niu Yaming;Ma Xiaotian(School of Transportation and Vehicle Engineering,Shandong University of Technology,Shandong Zibo 255000)

机构地区：[1]山东理工大学交通与车辆学院

出　　处：《汽车实用技术》2020年第2期28-30,共3页Automobile Applied Technology

摘　　要：针对智能车使用A*路径规划算法存在转折点和冗余点的问题,提出一种考虑智能车静态特性的改进A*路径规划算法。在已知静态环境信息的栅格地图上,考虑到智能车自身存在实际宽度,对障碍物进行膨胀扩展;其次根据路径上前后节点相对方向的改变提取必要的转折点,并依次连结前后转折点,若转折点连线不经过障碍物,删除连结转折点之间冗余的转折点;重复上述操作,直至所有冗余点被删除,保留关键转折点。仿真结果表明,该方法可以实现车辆安全无碰撞地到达目标终点。In order to solve the problem of turning points and redundant points in using A* path planning algorithm for intelligent vehicles,an improved A* path planning algorithm considering the static characteristic of intelligent vehicles is proposed.On the grid map with known static environmental information,considering the actual width of the intelligent vehicle itself,the obstacles are expanded.Secondly,the necessary turning points are extracted according to the change of the relative direction of the front and rear nodes on the path,and the front and rear turning points are connected in turn.If the turning points are connected without passing through the obstacles,the redundant turning points between the turning points are deleted.Repeat the above operations until all redundant points are deleted and key turning points are reserved.The simulation results show that the method can ensure the vehicle to reach the destination safely without collision.

关 键 词：路径规划 A*算法 障碍物膨胀 轨迹平滑 

分 类 号：V323.19[航空宇航科学与技术—人机与环境工程]