摘要
针对传统A*算法在实际应用中需要所有的节点信息,算法忽略车身实际宽度的问题,提出了基于A*算法同时结合使用虚拟力场法的避障导航算法.该改进算法解决了A*算法在实际应用中存在的问题,也避免了单独使用虚拟力场法存在的容易陷入局部极小点、在目标点附近有障碍物时无法到达以及摆动剧烈的问题.仿真实验验证了新算法的有效性,实验结果表明该算法拓宽了原有算法的使用范围并且提高了无人车实时路径导航的能力.
The traditional A＊ algorithm requires all the node information and neglects the width of the vehicle in practical application. To solve the problem, we proposed a new algorithm which is based on A＊ algorithm and uses VFF method together. When using the new algorithm, problems such as that vehicle falls into local minima and swings violently when there are obstacles near the target can be avoided. The simulation results verify the effectiveness of the new algorithm. The experimental results show that the proposed algorithm widens the use range of the original algorithms and improves the ability of real-time navigation for unmanned vehicles.
出处
《计算机系统应用》
2014年第9期107-111,共5页
Computer Systems & Applications
基金
陕西省教育厅自然科学专项(12JK0502)
关键词
无人车
A＊算法
虚拟力场法
unmanned vehicles A＊algorithm virtual force field
