基于改进A*算法的一种智能车路径规划方法
DOI:
作者:
作者单位:

作者简介:

通讯作者:

中图分类号:

TP242

基金项目:

微创脊柱手术并联机器人关键技术研究


Intelligent Vehicle Trajectory Planning based on Improved Genetic Algorithm
Author:
Affiliation:

Fund Project:

Study on Key technologies of Parallel Robot for Minimally Invasive Spine Surgery

  • 摘要
  • |
  • 图/表
  • |
  • 访问统计
  • |
  • 参考文献
  • |
  • 相似文献
  • |
  • 引证文献
  • |
  • 资源附件
  • |
  • 文章评论
    摘要:

    轨迹规划是智能车安全行驶的关键技术。本文基于A*算法在复杂地图轨迹规划耗时长,拐点多等问题,提出了一种基于图论及几何方法的改进A*算法的避障与导航方法。该方法在传统A*算法的基础上结合图论进行路径规划,同时剔除路径中冗余节点,并采用Labview进行具体的仿真实验来验证轨迹规划算法的性能。结果表明:该算法在复杂环境中仍能有效找到距离短且平滑路径,提高了智能车的运行效率降低了能耗,可用于实际的智能车安全行驶管理中。

    Abstract:

    Trajectory planning is the key technology of intelligent vehicle safe driving. In order to solve the problems of long time consuming and many inflection points of A star algorithm in complex map trajectory planning, an improved A star algorithm based on the graph theory and the geometric method is proposed. The improved algorithm is combined the traditional A star algorithm with the graph theory, eliminate the redundant nodes, and the performance of the trajectory planning algorithm is verified by simulation experiments. The results show that the short distance and smooth path can still be found effectively in the complex environment, which improves the running efficiency of the intelligent vehicle and reduces the energy consumption, and can be used in the actual safe driving management of the intelligent vehicle.

    参考文献
    相似文献
    引证文献
引用本文

荆学东,陈亚楠. 基于改进A*算法的一种智能车路径规划方法[J]. 科学技术与工程, 2020, 20(27): 11161-11165.
Jing xuedong, Chen yanan. Intelligent Vehicle Trajectory Planning based on Improved Genetic Algorithm[J]. Science Technology and Engineering,2020,20(27):11161-11165.

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2019-11-08
  • 最后修改日期:2020-06-27
  • 录用日期:2020-03-10
  • 在线发布日期: 2020-10-22
  • 出版日期:
×
律回春渐,新元肇启|《科学技术与工程》编辑部恭祝新岁!
亟待确认版面费归属稿件,敬请作者关注