基于改进A^(*)算法与冲突规避的载运车路径规划  

Carrier trajectory planning based on improved A^(*) algorithm and conflict avoidance

作　　者：陈琦 卢刘杨 宋佛明 陆俊杰 彭孝林 秦衡峰[2] CHEN Qi;LU Liuyang;SONG Fuming;LU Junjie;PENG Xiaolin;QIN Hengfeng(China Railway SunWard Engineering Equipment Co.,Ltd.,Guangzhou 511468,China;School of Mechanical Engineering and Mechanics,Xiangtan University,Xiangtan 411105,China)

机构地区：[1]中铁山河工程装备股份有限公司,广东广州511468 [2]湘潭大学机械工程与力学学院,湖南湘潭411105

出　　处：《湘潭大学学报(自然科学版)》2025年第1期148-157,共10页Journal of Xiangtan University(Natural Science Edition)

基　　金：国家自然科学基金(52375519)。

摘　　要：为了提高露天停车场的泊车车位数,提出了一种无行驶车道的停车场,并设计了一种载运车实现智能自动泊车.着重研究了载运车的路径规划,对于单载运车的路径规划问题,采用的是一种改进的A*算法,在传统A*算法的估价函数上增加了转向代价和路径拥挤度代价,仿真结果显示,优化后的算法降低了22%转向次数和20%的冲突次数.然后针对多载运车路径冲突问题,建立了一个惩罚函数从预选策略选出一种最优的策略,通过仿真验证,该方法可以有效减少任务完成的时间以及规避冲突的次数.To improve parking efficiency in open parking lots,an innovative lane-less parking design is introduced,utilizing an autonomous carrier vehicle for intelligent management.It focuses on the path planning of the carrier vehicle.In single-carrier scenarios,path planning is achieved using an enhanced A*algorithm,which incorporates turning and path congestion costs into the traditional heuristic function.It is demonstrated through simulations that this modification results in a 22%reduction in turning frequency and a 20%decrease in path conflicts.For multiple carrier vehicles,it develops a penalty function to select the most effective strategy from predefined options.Simulations validate that method significantly reduces both the task completion time and the incidence of conflicts among multiple vehicles.

关 键 词：露天停车场 载运车 路径规划 惩罚函数 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]