摘要
Abstract
In traditional A* algorithm-based global path planning for larger environments,issues such as an excessive number of search nodes,lengthy algorithm execution times,and convoluted paths arise.To address these challenges,an improved bidirectional A* algorithm is introduced in this study.This approach incorporates the concept of artificial potential fields to provide a sense of direction in the search process.Additionally,a turning cost is integrated to promote smoother paths,while obstacle factors are introduced to favor the selection of broader path expansions.Finally,eight simulation runs are conducted to compare the proposed improved A*algorithm with traditional A* and bidirectional A* algorithms,as well as an enhanced algorithm without obstacle factors.Evaluation metrics including path length,time,node count,and number of turns are utilized for comparison.The simulation results demonstrate that the improved A* algorithm reduces the number of search nodes by 75.9%compared to the bidirectional A* algorithm,decreases the number of turns by 53.6%,and accelerates runtime by 84.1%.关键词
路径规划/双向A*算法/引力思想/转弯代价/障碍因子Key words
path planning/bidirectional A* algorithm/gravitational concept/turning cost/obstacle factor分类
信息技术与安全科学
