| 引入必经点约束的路径规划算法研究 |
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| 引用本文： | 王磊,孙力帆.引入必经点约束的路径规划算法研究[J].计算机工程与应用,2020,56(21):25-29. |
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| 作者姓名： | 王磊 孙力帆 |
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| 作者单位： | 1.河南科技大学 国际教育学院，河南 洛阳 471023
2.河南科技大学 信息工程学院，河南 洛阳 471023 |
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| 基金项目： | 国家自然科学基金;装备预研项目;航空科学基金 |
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| 摘 要： | 针对传统A*算法存在搜索范围广、运行效率低的问题，提出了一种引入必经点约束的路径规划算法。该算法结合障碍物分布特点，通过寻找最短路径必经点，实现对A*搜索方向的约束，再对最短路径段进行拼接得到最短路径。最后，在100×100网格地图中进行对比实验，结果表明，引入必经点约束的改进算法比传统A*算法的结点访问量大幅降低，运行效率得到显著提高。
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| 关 键 词： | A*算法 障碍物块 登陆点 模拟路径 必经点 路径规划 |
Research on Path Planning Algorithm with Obligatory Node Constraint |
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| WANG Lei,SUN Lifan.Research on Path Planning Algorithm with Obligatory Node Constraint[J].Computer Engineering and Applications,2020,56(21):25-29. |
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| Authors: | WANG Lei SUN Lifan |
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| Affiliation: | 1.School of International Education, Henan University of Science and Technology, Luoyang, Henan 471023, China
2.School of Information Engineering, Henan University of Science and Technology, Luoyang, Henan 471023, China |
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| Abstract: | As for the problems of searching too many nodes and running inefficiently on traditional A-Star algorithm, this paper proposes a path planning algorithm with obligatory node constraint. Considering the layout of obstacles, this algorithm limites searching directions of A* by finding out an obligatory node of shortest path. And then it connects both shortest path segments to form the shortest path. An experiment is performed between traditional A-Star algorithm and improved algorithm in maps of 100×100 grids. It shows that the operation efficiency of A-Star algorithm has been significantly improved. |
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| Keywords: | A-Star algorithm obstacle block landing point simulate path obligatory node path planning |
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