湖北汽车工业学院学报2025，Vol.39Issue(1)：9-14,6.DOI:10.3969/j.issn.1008-5483.2025.01.002
基于改进混合A*算法的智能汽车路径规划
Intelligent Vehicle Path Planning Based on Improved Hybrid A* Algorithm
摘要
Abstract
An improved hybrid A* algorithm was proposed to address the issues of low efficiency in un-structured road path planning and insufficient smoothness of planned paths by the original algorithm.The penalties for direction switching and heading angle were added to the actual cost,and the exponen-tial weighting method was adopted to weight the heuristic function.Nodes were expanded using a vari-able step size method,and RS curve fitting was applied to the path in the end area.The gradient de-scent method was used to smooth the path and optimize the obstacle avoidance.The path planning simu-lation was carried out by constructing complex scenarios and parking scenes.The results show that the improved hybrid A* algorithm has obvious advantages in path length,expansion nodes,search time,and curvature compared with the traditional algorithm,able to effectively address the path planning challenges in unstructured roads.关键词
混合A*算法/非结构化道路/启发函数/梯度Key words
hybrid A* algorithm/unstructured roads/heuristic function/gradient分类
交通工程引用本文复制引用
潘锐,周红妮,郭昊..基于改进混合A*算法的智能汽车路径规划[J].湖北汽车工业学院学报,2025,39(1):9-14,6.基金项目
湖北省教育厅科研计划优秀中青年项目(Q201918050) （Q201918050）
湖北省创新基金(2015XTZX0414) （2015XTZX0414）
