基于节点优化的A*算法路径规划  

A* Algorithm Path Planning Based on Node Optimization

作　　者：蔡诚 梁利东[1] 贾文友[1] 江磊[1] CAI Cheng;LIANG Li-dong;JIA Wen-you;JIANG Lei(College of Mechanical Engineering,Anhui Polytechnic University,Wuhu 241000,China)

机构地区：[1]安徽工程大学机械工程学院,安徽芜湖241000

出　　处：《唐山师范学院学报》2021年第3期76-79,共4页Journal of Tangshan Normal University

基　　金：安徽高校省级科学研究项目(KJ2016A057,KJ2018A0102)。

摘　　要：针对路径规划中A*算法的搜索节点多、搜索时间长、路径不平滑等问题,提出了节点优化的改进A*算法。一是减少开启列表中的节点数量;二是利用关键点选取策略,剔除冗余路径点和不必要的转折点。实验结果表明,与A*算法相比,改进算法可有效减少寻路过程中的搜索节点数和转向次数,提高路径搜索效率和平滑度。Aiming at the problems of many search nodes,long search time and unsmooth path in A*algorithm of path planning,an improved A*algorithm for node optimization is proposed.First of all,based on the A*algorithm,the closed list only needs to save the effective path nodes from the start node,while the open list saves the subsequent nodes of the closed list,thus reducing the number of nodes in the open list.Then,the key point selection strategy is used to eliminate redundant path points and unnecessary turning points to optimize the path.The experimental results show that,compared with the A*algorithm,the improved algorithm can effectively reduce the number of search nodes and the number of turns,improve the efficiency and smoothness of path search,and obtain a better optimal path.

关 键 词：节点优化 路径规划 A*算法 关键点选取 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]