基于改进A*算法的智能车路径规划研究

针对智能车使用A*路径规划算法存在转折点和冗余点的问题,提出一种考虑智能车静态特性的改进A*路径规划算法。在已知静态环境信息的栅格地图上,考虑到智能车自身存在实际宽度,对障碍物进行膨胀扩展;其次根据路径上前后节点相对方向的改变提取必要的转折点,并依次连结前后转折点,若转折点连线不经过障碍物,删除连结转折点之间冗余的转折点;重复上述操作,直至所有冗余点被删除,保留关键转折点。仿真结果表明,该方法可以实现车辆安全无碰撞地到达目标终点。

Research on Global Path Planning for Intelligent Vehicles Based on Improved A~* Algorithm

In order to solve the problem of turning points and redundant points in using A* path planning algorithm for intelligent vehicles,an improved A* path planning algorithm considering the static characteristic of intelligent vehicles is proposed.On the grid map with known static environmental information,considering the actual width of the intelligent vehicle itself,the obstacles are expanded.Secondly,the necessary turning points are extracted according to the change of the relative direction of the front and rear nodes on the path,and the front and rear turning points are connected in turn.If the turning points are connected without passing through the obstacles,the redundant turning points between the turning points are deleted.Repeat the above operations until all redundant points are deleted and key turning points are reserved.The simulation results show that the method can ensure the vehicle to reach the destination safely without collision.