南京理工大学学报（自然科学版）2017，Vol.41Issue(3)：313-321,9.DOI:10.14177/j.cnki.32-1397n.2017.41.03.007
基于同步可视图构造和A*算法的全局路径规划
Global path planning based on simultaneous visibility graph construction and A* algorithm
摘要
Abstract
A novel algorithm is proposed by constructing a visibility graph(VG)in the process of path search to improve the efficiency of global path planning.In the search process,a node is selected by A* algorithm for expansion.According to the status of the node,a through line from the preview node to the node or from the node to the destination is drawn.If the line is collision-free,it is added to the VG as a visible edge,or the 2 vertices of obstacles are added to the list for expansion.Simulation results show that compared with complete visibility graph+A*,oriented visibility graph(OVG)+A* and simplified visibility graph+A*,the proposed algorithm can search the optimal path and decrease the time for path planning.关键词
全局路径规划/可视图/A*算法/路径搜索Key words
global path planning/visibility graph/A* algorithm/path search分类
信息技术与安全科学引用本文复制引用
吕太之,赵春霞,夏平平..基于同步可视图构造和A*算法的全局路径规划[J].南京理工大学学报（自然科学版）,2017,41(3):313-321,9.基金项目
国家自然科学基金(61101197) （61101197）
江苏省高校优秀中青年教师和校长赴境外研修项目(201121) （201121）
