湖北汽车工业学院学报2026，Vol.40Issue(1)：18-22,29,6.DOI:10.3969/j.issn.1008-5483.2026.01.004
基于多策略融合的改进A*路径规划算法
Improved A* Path Planning Algorithm Based on Multi-strategy Fusion
摘要
Abstract
Aiming at the problems of the traditional A* algorithm,such as low search efficiency,high path redundancy,and strong tortuosity in complex environments,an improved A* algorithm based on multi-strategy fusion was proposed.An adaptive neighborhood search mechanism was designed,which dynamically selected the neighborhood structure and adjusted the heuristic function weight according to the local obstacle density.A heuristic function incorporating the ideal path area constraint was intro-duced,and the triangular area of the path deviation area was calculated.The key inflection points were extracted from the planned path,and tangential smoothing was performed based on the adjacent path vectors to generate a continuous arc path.The experimental results show that compared with the tradi-tional A*,RRT,and PSO algorithms,the improved algorithm is competitive in many indexes such as path search efficiency,length,and smoothness.关键词
A*算法/路径规划/切圆平滑Key words
A* algorithm/path planning/tangential smoothing分类
交通工程引用本文复制引用
席茂,白晨阳,徐龙艳..基于多策略融合的改进A*路径规划算法[J].湖北汽车工业学院学报,2026,40(1):18-22,29,6.基金项目
湖北省教育厅科学技术研究计划项目(D202111802) （D202111802）
湖北省重点研发计划项目(2022BEC008) （2022BEC008）
