摘要
为解决传统A^(*)算法在施工水域对船舶进行路径规划时搜索节点多、拐点多、节点拓展方向范围广等问题,提出一种基于改进A^(*)算法融合角度信息的路径规划方法。首先,定义加权因子,将其引入A^(*)算法的启发函数中,以此提高路径规划的效率;其次,引入角度信息,诱导搜索节点分布在起始点到目标点的连线附近;最后,添加转弯修正代价参数,并对路径进行二次优化,提高路径平滑性。实验结果表明,该方法在简单环境下的搜索时间能缩短45.8%,在复杂环境下的搜索时间能缩短63%,并且能够有效剔除冗余节点,使路径变得更加平滑。
In order to solve the problems of multiple search nodes,many turning nodes and wide range of node expansion direction when the traditional A^(*)algorithm is used to conduct the ship path planning in construction waters,a path planning method based on the improved A^(*)algorithm and adding angle information is proposed.First,a weighting factor is defined and introduced into the heuristic function of A^(*)algorithm to improve the efficiency of path planning.Second,the angle information is introduced to induce the search nodes to be distributed near the connection line from the starting point to the target point.Finally,a turning correction cost parameter is added,and the path is optimized again to improve the path smoothness.The experimental results show that,this method can reduce the search time by 45.8%in simple environment and 63%in complex environment,and can effectively eliminate redundant nodes to make the path smoother.
作者
张浩
庞宁林
胡安康
肖英杰
陈锦标
ZHANG Hao;PANG Ninglin;HU Ankang;XIAO Yingjie;CHEN Jinbiao(Merchant Marine College,Shanghai Maritime University,Shanghai 201306,China)
出处
《上海海事大学学报》
北大核心
2023年第2期6-10,共5页
Journal of Shanghai Maritime University
基金
2022年度上海市教育委员会地方院校能力建设计划(Z20228005)
上海高水平地方高校创新团队(海事安全与保障)。
