一种面向智能车路径规划的改进A 算法  

An Improved A Algorithm for Intelligent Vehicle Path Planning

作　　者：路中秋 姚善化[1] 张永刚[1] LU Zhongqiu;YAO Shanhua;ZHANG Yonggang(College of Electrical and Information Engineering,Anhui University of Technology,Huainan Anhui 232000,China)

机构地区：[1]安徽理工大学电气与信息工程学院,安徽淮南232000

出　　处：《洛阳理工学院学报（自然科学版）》2023年第1期66-72,共7页Journal of Luoyang Institute of Science and Technology：Natural Science Edition

基　　金：安徽省住房城乡建设科学技术计划项目(2021-YF61).

摘　　要：针对智能车辆路径规划问题提出A优化算法。在扩展节点的过程中,基于双向同步搜索A算法上优先选择目标点方位的相邻节点作为搜索节点,提高搜索效率;采用二阶贝塞尔曲线函数作为启发函数,以减小启发函数对路径的影响;在改进的A算法基础之上,提出一种分段多阶贝塞尔算法来解决没有进行分段的贝塞尔算法计算量大、规划路线不合理的缺陷。改进算法的搜索路径效率和路径优化上得到大幅度提高。A optimization algorithm is proposed for intelligent vehicle path planning.In the process of extending nodes,an adjacent node based on two-way synchronous search A algorithm is proposed as a search node,improving search efficiency;The second-order Bessel curve function is adopted as an inspiration function,to reduce the impact of inspiration functions;On the basis of the improved A algorithm,a segment multi-step Bessel curve algorithm is proposed to solve the excessive calculation and unreasonable planning route of the Bessel algorithm.Both the search path and path optimization of the improved algorithm are highly efficient.

关 键 词：A算法 贝塞尔曲线 路径优化 路径平滑 智能车 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]