重庆理工大学学报2025，Vol.39Issue(21)：63-71,9.DOI:10.3969/j.issn.1674-8425(z).2025.11.008
改进JPS算法的路径规划研究
A study of path planning with improved JPS algorithm
摘要
Abstract
Traditional jump point search algorithm(JPS)often produces paths that are close to the obstacles,leading to potential collisions.It also generates numerous turning points,unsmooth paths,and long planning times.This paper proposes an improved algorithm called SS-JPS(Simplify Secure-JPS).The environmental information in the map is rasterized,and weighting coefficients are introduced to improve the cost function.Node screening is then performed by examining the line between the parent node and surrounding nodes of each new jump point,retaining only those without intersection or diagonal collisons with obstacles.As a large number of jump points leads to paths with excessive turning points,the generated path is optimized through pruning,which significantly reduces these turns,follwed by smoothly using a cubic B-spline curve.Simulation results show the proposed SS-JPS algorithm generates paths with fewer turning points,fewer search nodes and shorter planning time compared with existing path planning algorithm.After applying smoothing optimization,the paths are safer and exhibit markedly improved smoothness.关键词
权重系数/节点筛选/剪枝优化/曲线平滑Key words
weighting coefficients/node screening/pruned to optimize/curve smoothing分类
交通工程引用本文复制引用
CUI Wanbo,LI Gang,ZHU Yutong,LIU Xinyu,TU Yuxin,ZHU Jiawu..改进JPS算法的路径规划研究[J].重庆理工大学学报,2025,39(21):63-71,9.基金项目
辽宁省自然科学基金项目(2022-MS-376) （2022-MS-376）
辽宁省教育厅重点攻关项目(JYTZD2023081) （JYTZD2023081）
