改进A^(*)算法的无人车路径规划  

Improved A^(*)Algorithm for Unmanned Vehicle Path Planning

作　　者：王海群 甘成通 王福斌 WANG Haiqun;GAN Chengtong;WANG Fubin(College of Electrical Engineering,The North China University of Science and Teachnology,Hebei Tangshang 063210,China)

机构地区：[1]华北理工大学电气工程学院,河北唐山063210

出　　处：《机械设计与制造》2025年第1期117-120,共4页Machinery Design & Manufacture

基　　金：河北省自然科学基金资助项目(F2019209323)。

摘　　要：近年来随着科技的发展私家车不断的普及,汽车数量的不断增加导致交通事故频发,面对这一问题大量学者在不断地进行研究,5G的出现使得无人自动驾驶的实现成为了可能,路径规划是无人驾驶技术的重点研究内容。目前大部分路径规划采用的是传统的A^(*)算法,但该算法存在搜索范围大、时间长、路径规划效率较低、损耗较大以及路径拐点较多等问题无法规划出最佳路径。这里在此基础上加以改进,通过建立栅格地图,构建新的动态衡量启发式A^(*)算法函数,通过新算法所得新路径再进行路经拐角优化,最后对改进的算法进行仿真并分析和比较,证明了新改进的算法和经过拐角路径优化可得到最佳路径。In recent years,with the development of science and technology,the continuous popularization of private cars and the continuous increase in the number of cars have led to frequent traffic accidents.Facing this problem,a large number of scholars are constantly conducting research.The emergence of 5G has made the realization of unmanned autonomous driving possible.Path planning is the key research content of unmanned driving technology.At present,most path planning uses the traditional A^(*)algorithm,but this algorithm has problems such as large search range,long time,low path planning efficiency,large loss,and many path inflection points,etc.which cannot plan the best path.This article improves on this basis,builds a new dynamic measurement heuristic A^(*)algorithm function through the establishment of a grid map,and optimizes the path through the cor⁃ners of the new path obtained through the new algorithm.Finally,the improved algorithm is simulated,analyzed and compared.It is proved that the new and improved algorithm and the optimal path can be obtained through corner path optimization.

关 键 词：无人自动驾驶 路径规划 栅格地图 A^(*)算法 动态衡量启发式函数 拐角优化 

分 类 号：TH16[机械工程—机械制造及自动化] TP3[自动化与计算机技术—计算机科学与技术]