[1]马静,王佳斌,张雪. A*算法在无人车路径规划中的应用[J].计算机技术与发展,2016,26(11):153-156.
　MA Jing,WANG Jia-bin,ZHANG Xue. Application of A* Algorithm in Unmanned Vehicle Path Planning[J].,2016,26(11):153-156.
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 A*算法在无人车路径规划中的应用()
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《计算机技术与发展》[ISSN:1006-6977/CN:61-1281/TN]

卷:
26
期数:
2016年11期
页码:
153-156
栏目:
应用开发研究
出版日期:
2016-11-10

文章信息/Info

Title:
 Application of A* Algorithm in Unmanned Vehicle Path Planning
文章编号:
1673-629X（2016)11-0153-04
作者:
 马静; 王佳斌; 张雪
 西安工业大学 计算机科学与工程学院
Author(s):
 MA Jing; WANG Jia-bin; ZHANG Xue
关键词:
无人车; 路径规划; 栅格地图; Dijkstra算法; A*算法; 电子罗盘
Keywords:
unmanned vehicle; path planning; grid map; Dijkstra algorithm; A*algorithm; electronic compass
分类号:
TP242.6
文献标志码:
A
摘要:
 近年来，无人车路径规划已经成为智能机器人研究的基础和核心方向之一，其为多学科技术研究提供了更加广阔的平台。针对路径规划算法进行研究，在理论模拟的基础上，结合车体的有向性实现智能车的路径规划策略。路径规划是无人车智能化的重要标志，也作为实现无人车自主导航的基础。以自主设计搭建的无人小车为实验平台，针对路径规划算法进行研究，在对Dijkstra算法等常用的路径规划算法进行优缺点分析后，选择了A*算法并实现了该算法。在理论模拟的基础上，对环境进行栅格化处理，并通过车体上的电子罗盘获取实时方向，结合A*算法进行车辆调转策略设置，最终实现了无人车路径规划策略。
Abstract:
 In recent years,path planning for unmanned vehicle is the basis and one of the core directions in intelligent robot research, which provides an extensive platform for multidisciplinary technology research. Aiming at the path planning,on the basis of theoretic sim-ulation,the path planning strategy for intelligent vehicles is realized combining the direction of vehicle. Path planning is an important sym-bol of unmanned vehicle intelligence,also as a basis for autonomous navigation of unmanned vehicles. Taking unmanned vehicle of auton-omous design as experiment platform,in view of the path planning algorithm for research,after analyzing the advantage and disadvantage for common path planning algorithms like Dijkstra,the A*algorithm is selected and implemented. On the basis of the theoretical simula-tion,rasterizing the environment,and through electronic compass in vehicle to get real-time direction,the A* algorithm is combined to carry out the vehicle shift strategy,finally realizing unmanned vehicle path planning strategy.

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更新日期/Last Update: 2016-12-16