现代信息科技2024，Vol.8Issue(2)：86-91,6.DOI:10.19850/j.cnki.2096-4706.2024.02.019
基于动态启发的双向搜索A*路径规划算法
A Bidirectional Search A* Path Planning Algorithm Based on Dynamic Heuristic Method
摘要
Abstract
Aiming at the problem that the traditional path planning A* algorithm has slow search speed and the resulting path turning angle too large,an A* path planning algorithm based on bidirectional search is proposed.Firstly,the overall search direction of A* search algorithm is adjusted to bidirectional search to initially improve the search speed.Secondly,dynamic weight coefficients are introduced in the planning process to adjust the heuristic function to further improve the search speed by balancing the relationship between path length and planning speed.Finally,B-spline curve is used to smooth and optimize the planned paths to solve the problem that the A* algorithm planning paths with too many turning angles cannot meet the actual motion control.The results of simulation experiments show that compared with the traditional A* algorithm,the algorithm in this paper reduces the search nodes and planning time by 79.24%and 62.56%,respectively.关键词
移动机器人/A*路径规划/双向搜索/动态权重系数/B样条曲线优化Key words
mobile robot/A* path planning/bidirectional search/dynamic weight coefficient/B-spline curve optimization分类
信息技术与安全科学引用本文复制引用
陈家伟,许颖婷,陈淑婧,张霖,蔡志明..基于动态启发的双向搜索A*路径规划算法[J].现代信息科技,2024,8(2):86-91,6.基金项目
福建工程学院校科研启动基金(GY-Z21064) （GY-Z21064）
