自动化与信息工程2026，Vol.47Issue(3)：1-7,7.DOI:10.12475/aie.20260301
自动驾驶车辆越野全局路径规划算法
Autonomous Vehicle Off-road Global Path Planning Algorithm
摘要
Abstract
Current research on autonomous vehicles predominantly focuses on scenarios with structured roads.When vehicles needs to drive off-road in roadless mountainous areas,autonomous feasible path planning becomes indispensable.This paper proposes an improved A* algorithm to realize autonomous global path planning for vehicles in roadless mountainous environments.The proposed algorithm prioritizes the trafficability of the vehicle,reduces uphill and downhill driving sections,and avoids the rough position on the terrain to enhance driving smoothness.Finally,simulation experiments verify the performance of the algorithm,which can generate smooth global paths in complex terrain.关键词
A*算法/路径规划/越野场景/非结构化道路Key words
A* algorithm/path planning/off-road scenario/unstructured road分类
信息技术与安全科学引用本文复制引用
张建,贡益明,商飞..自动驾驶车辆越野全局路径规划算法[J].自动化与信息工程,2026,47(3):1-7,7.基金项目
国家自然科学基金(61401211) （61401211）
