一种基于改进贝尔曼方程的最短路径规划算法  

A Shortest Path Planning Algorithm Based On Improved Bellman Equation

作　　者：鲁韵 王姣 LU Yun;WANG Jiao(School of Mechatronic and Automation,Wuchang Shouyi University,Wuhan 430074,China)

机构地区：[1]武昌首义学院机械与自动化学院,武汉430074

出　　处：《武汉理工大学学报（交通科学与工程版）》2022年第6期1003-1007,共5页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：武昌首义学院博士科研启动基金(B20220401)、武昌首义学院校级教学研究项目(2021Y02)。

摘　　要：合理的路径规划是提升无人驾驶车辆通行效率的关键所在.传统的全局算法在路径规划问题中其效率和可达性的平衡一般要根据项目的实际情况进行取舍,且动态规划精度不高.本文提出一种最短路径规划算法,该算法将目标集看作有限维的欧几里德空间并采用改进贝尔曼方程选择当前最佳的适宜型控制策略以解决其效率和精度问题.仿真结果表明:与传统的快速行进算法相比,当最大成本值较大时,该算法能提高运算效率和规划精度且具有更好的动态规划性能.Reasonable path planning is the key to improve the traffic efficiency of unmanned vehicles.The balance between efficiency and accessibility of traditional global algorithm in path planning is generally determined according to the actual situation of the project,and the accuracy of dynamic planning is not high.In this paper,a shortest path planning algorithm was proposed,which regards the target set as a finite-dimensional Euclidean space and uses the improved bellman equation to select the best suitable control strategy to solve its efficiency and accuracy problems.The simulation results show that,compared with the traditional fast-moving algorithm,when the maximum cost value is larger,this algorithm can improve the calculation efficiency and planning accuracy,and has better dynamic planning performance.Reasonable path planning is the key to improve the traffic efficiency of unmanned vehicles.The balance between efficiency and accessibility of traditional global algorithm in path planning is generally determined according to the actual situation of the project,and the accuracy of dynamic planning is not high.In this paper,a shortest path planning algorithm was proposed.The objective set was regarded as a finite dimensional Euclidean space,and the improved bellman equation was used to select the best suitable control strategy to solve its efficiency and accuracy problems.The simulation results show that,compared with the traditional fast-moving algorithm,when the maximum cost value is larger,this algorithm can improve the calculation efficiency and planning accuracy,and has better dynamic planning performance.

关 键 词：路径规划 最优解 改进贝尔曼方程 适宜型控制策略 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]