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Path planning method based on improved A* algorithm

A path planning and local path planning technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control, etc. question

Inactive Publication Date: 2021-09-07
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the existing path planning method cannot cope with various situations and the problem that the global path planning cannot be accurately performed due to temporary dynamic obstacles, and proposes a path planning method based on the improved A* algorithm

Method used

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  • Path planning method based on improved A* algorithm

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specific Embodiment approach 1

[0053] A kind of path planning method based on the improved A* algorithm of this embodiment, such as figure 1 As shown, the method is realized through the following steps: the method refers to processing the road condition map collected by a grid method to obtain a grid map; after that, using the ant colony algorithm to optimize and improve the A* algorithm; after that, The artificial potential field method is used for local path planning, and the artificial potential field method is improved and optimized for the shortcomings of local minima and unreachable targets; after that, a hybrid path planning algorithm is designed by combining the improved A* algorithm with the artificial potential field method , to provide a suitable control algorithm for the subsequent vehicle path planning; after that, by adopting a suitable path planning algorithm, the system automatically plans a feasible path, and the vehicle avoids obstacles according to the path, so as to reach the target posit...

specific Embodiment approach 2

[0055] The difference from Embodiment 1 is that a path planning method based on the improved A* algorithm in this embodiment, the hybrid path planning algorithm designed by combining the improved A* algorithm with the artificial potential field method specifically includes:

[0056] Step 1, using the improved A* algorithm for global path planning to obtain an initial path;

[0057] Step 2. Detect whether there are dynamic obstacles in the map environment;

[0058] If so, use the improved artificial potential field method for local path planning, and improve and optimize it for the shortcomings of local minima and unreachable targets;

[0059] If not, it is considered that the path planning is completed, and the final hybrid algorithm planning path is obtained.

[0060] Step 3. After using the improved artificial potential field method for local path planning, judge whether to reach the destination point;

[0061] If not, return to step 2;

[0062] If so, it is considered th...

specific Embodiment approach 3

[0067] The difference from the specific embodiment 1 or 2 is that, in the path planning method based on the improved A* algorithm in this embodiment, in the step of using the improved artificial potential field method for local path planning, since the artificial potential field method performs local In path planning, there are two defects of local minimum and target unreachable.

[0068] local minima problem

[0069] When using the artificial potential field method for local path planning, in the force field, the vehicle is subjected to the repulsion of obstacles and the attraction of the target point to make it travel along the path with a lower potential field in the environment, thereby avoiding obstacles reach the target location. However, sometimes, the repulsive force and the gravitational force received by the guided vehicle are 0 after synthesis, and the guided vehicle no longer moves. At this time, the position of the guided vehicle is not the minimum point of the g...

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Abstract

The invention discloses a path planning method based on an improved A* algorithm, and belongs to the field of unmanned driving path planning. An existing path planning method cannot deal with various conditions and cannot accurately perform global path planning due to temporary dynamic obstacles. The path planning method based on the improved A* algorithm comprises the steps: processing a collected road condition map through a grid method, and obtaining a grid map; then, optimizing and improving the A* algorithm by using an ant colony algorithm; then, carrying out local path planning by an artificial potential field method, and carrying out improvement and optimization aiming at the defect that a local minimum value and a target of the artificial potential field method are unreachable; afterwards, combining the improved A* algorithm and the artificial potential field method to design a mixed path planning algorithm, and providing a proper control algorithm for subsequent vehicle path planning; and afterwards, adopting a proper path planning algorithm, automatically planning a feasible path by the system, and enabling the vehicle to avoid an obstacle according to the path, so as to enable the vehicle to accurately and quickly reach the target position.

Description

technical field [0001] The invention relates to a path planning method, in particular to a path planning method based on an improved A* algorithm. Background technique [0002] Other countries in the world have started research on vehicle route planning technology very early on, so they have taken strict restrictions and confidentiality measures on the related technologies they have obtained to prevent the technology from being acquired by other countries, especially for our country. has been strongly restricted. As for our country, due to its late start and lack of deep technological accumulation, it also lags behind foreign countries. However, after realizing the importance of research in this direction, our country rushed to catch up, and the country also gave huge human, financial and material support to research in this area. The whole society, from enterprises to universities and then to scientific research institutes, has formed a research model integrating producti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 王英立韩彬
Owner HARBIN UNIV OF SCI & TECH
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