扩展路径规划中搜索方向数量的A-star算法

2021 2nd International Seminar on Artificial Intelligence, Networking and Information Technology (AINIT) Pub Date : 2021-10-01 DOI:10.1109/AINIT54228.2021.00049

Zailong Zhang, Shanyu Wang, Jianwei Zhou

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引用次数: 5

摘要

针对传统A-star算法(正方形A-star算法有8个搜索方向，正六边形A-star算法有6个搜索方向)拐点多、路径长的问题，提出了一种改进的A-star算法，扩大了搜索方向的数量。首先，采用网格法对需要进行路径规划的空间环境进行建模;改进的a星算法将搜索方向提高到12个搜索方向。由于改进的A-star算法比传统的A-star算法有更多的搜索方向和更多的选择，因此规划路径的总长度明显小于传统的A-star算法，与传统的方形A-star算法和传统的六边形A-star算法相比，路径的总长度分别减少了8.87%和3.65%。并且由于改进的A-star算法的搜索方向更多，规划的路径更加平滑，路径上的拐点也减少了。

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A-star algorithm for expanding the number of search directions in path planning

In order to solve the problem that the traditional A-star algorithm (square A-star algorithm has 8 search directions, regular hexagon A-star algorithm has 6 search directions) has many inflection points and long path, an improved A-star algorithm is proposed to expand the number of search directions. Firstly, the grid method is used to model the spatial environment that needs path planning. The improved A-star algorithm improves the search direction to 12 search directions. Because the improved A-star algorithm has more search directions and more choices than the traditional A-star algorithm, the total length of the planned path is significantly smaller than the traditional A-star algorithm, compared with the traditional square A-star algorithm and the traditional hexagon A-star algorithm, the total length of the path is reduced by 8.87% and 3.65% respectively. And because the search direction of the improved A-star algorithm is more, the planned path is smoother and the inflection points in the path are reduced.

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来源期刊

2021 2nd International Seminar on Artificial Intelligence, Networking and Information Technology (AINIT)

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