基于同步双向A星和灰狼优化的多点巡航规划  

Multi-purpose cruise path planning based on the two-way A-star and the gray wolf algorithms

作　　者：王敏 石明航 洪梅[2] 黎永顺 田子康 Wang Min;Shi Minghang;Hong Mei;Li Yongshun;Tian Zikang(School of Electronics and Information Engineering,Nanjing University of Information Science and Technology,Nanjing 210044,China;Institute of Meteorology and Oceanography,National University of Defense Technology,Changsha 410073,China;School of Electronics and Information Engineering,Anhui Jianzhu University,Hefei 230601,China)

机构地区：[1]南京信息工程大学电子与信息工程学院,南京210044 [2]国防科技大学气象海洋学院,长沙410073 [3]安徽建筑大学电子与信息工程学院,合肥230601

出　　处：《电子测量技术》2025年第1期1-7,共7页Electronic Measurement Technology

基　　金：国家自然科学基金(41775165,41775039);安徽省高校杰出青年科研项目(2023AH020022);江苏省研究生科研与实践创新计划项目(KYCX24_1499)资助。

摘　　要：针对无人艇多目标点巡航路径规划问题,本文提出了一种基于同步双向A星算法与灰狼优化算法结合的路径规划方法。首先,对传统A星算法进行了改进,通过引入同步双向搜索策略和动态权重调整,减少了路径冗余点和算法计算时间。然后,将巡航路径规划问题转化为经典旅行商问题,并应用改进的灰狼优化算法进行求解,以获得最优巡航路径。实验结果表明,本文提出的方法在路径规划的总距离、转弯次数上,均优于传统方法,能够有效提升无人艇的巡航效率和安全性,为无人艇多目标点巡航任务提供了一种可靠的解决方案。A path planning method based on an improved synchronous bidirectional A-star algorithm and grey wolf optimization algorithm is proposed for the multi-objective cruising path planning problem of unmanned boats.Firstly,the traditional A-star algorithm has been improved by introducing a synchronous bidirectional search strategy and dynamic weight adjustment,reducing path redundancy points and algorithm computation time.Then,the cruise path planning problem is transformed into a classic traveling salesman problem and solved using an improved grey wolf optimization algorithm to obtain the optimal cruise path.The experimental results show that the method proposed in this paper is superior to traditional methods in terms of total distance,number of turns,and computation time in path planning.It can effectively improve the cruising efficiency and safety of unmanned boats and provide a reliable solution for multi-target point cruising tasks of unmanned boats.

关 键 词：无人艇 多目标点巡航 A星算法 旅行商问题 灰狼优化算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TN96[自动化与计算机技术—计算机科学与技术]