吉林大学学报（信息科学版）2024，Vol.42Issue(5)：808-816,9.
基于改进JPS算法的无人车路径规划
Unmanned Vehicle Path Planning Based on Improved JPS Algorithm
摘要
Abstract
To address issues such as excessive turning points and suboptimal paths in traditional JPS(Jump Point Search)algorithms,an improved jump point search algorithm is proposed.First,based on the feasibility of the map,the obstacles are adaptively expanded to ensure a safe distance.Then,an improved heuristic function based on directional factor is integrated.And a key point extraction strategy is proposed to optimize the initial planned path,significantly reducing the number of expanded nodes and turning points while ensuring the shortest path.The experimental results show that compared to traditional JPS algorithms,the proposed ensures a shorter path length and fewer corners,while reducing the number of extended nodes by an average of 19％and improving search speed by an average of 21.8％.关键词
跳点搜索算法/障碍物膨胀/方向性/关键点提取Key words
jump point search algorithm/obstacles expansion/directionality/key node extraction分类
信息技术与安全科学引用本文复制引用
何精武,李伟东..基于改进JPS算法的无人车路径规划[J].吉林大学学报（信息科学版）,2024,42(5):808-816,9.基金项目
辽宁省科技创新重大专项基金资助项目(ZX20220560) （ZX20220560）
