基于势场化改进A*算法的履带式车辆路径规划算法  

A Tracked Vehicle Path Planning AlgorithmBased on Improved Potential Field A* Algorithm

作　　者：王涛 黎玉康 刘文学 WANG Tao;LI Yukang;LIU Wenxue(PLA Army Academy of Artillery Air Defense,Hefei 230000,China)

机构地区：[1]陆军炮兵防空兵学院,合肥230000

出　　处：《火力与指挥控制》2023年第8期81-85,92,共6页Fire Control & Command Control

摘　　要：传统的路径规划算法为提高所得路径质量,往往采用曲线平滑化的方式,而忽略了履带式车辆跟踪连续曲线路径精度低的问题。针对这个问题,提出了基于势场化改进A*算法的履带式车辆路径规划算法。该算法将以人工势场指出局部环境下A*算法的子目标,再通过删除冗余节点策略,提高路径直线占比,引入了Reeds-Shepp曲线,约束路径的曲率使之适用于履带车辆的行驶。最后通过MATLAB软件进行仿真,并提出转角次数、直线路径占比两项评估路径质量的评价指标。仿真结果表明,该算法所得路径短,转弯次数显著下降,直线路径占比大,平均直线路径长,复杂环境下效果依然良好。In order to improve the quality of the obtained path,the traditional path planning algorithm often adopts the method of smoothing the curve,while ignoring the problem of low accuracy of the tracked vehicle tracking the continuous curve path.To solve this problem,a tracked vehicle path planning algorithm based on the improved A*algorithm is proposed.First,the artificial potential field is introduced to point out the sub-objectives of A*algorithm in the local environment,and the strategy of deleting redundant nodes is used to increase the proportion of the straight line of the path.The Reeds-Shepp curve is introduced to constrain the curvature of the path and to make it suitable for the travelling of the tracked vehicles.Finally,the simulation is carried out by MATLAB software,and two evaluation indicators of number of corner and proportion of straight paths for evaluating the quality of the path are proposed.The simulation results show that the path obtained by the algorithm is short,the number of corners is significantly reduced,the proportion of straight paths is large,the average straight path is long,and the effect is still good in complex environments.

关 键 词：改进A*算法 删除冗余节点策略 直线路径占比 履带式车辆 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]