| 金震*,黄卫华* ** ***,李传奇*,何佳乐*.基于改进JPS和A*算法的组合路径规划[J].高技术通讯(中文),2022,32(4):412~420 |
| 基于改进JPS和A*算法的组合路径规划 |
| Combination path planning based on improved jump point search and A* algorithm |
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| DOI： |
| 中文关键词: 路径规划； 跳点搜索（JPS）算法； A*算法； 跳点阈值函数 |
| 英文关键词: path planning, jump point search (JPS) algorithm, A* algorithm, jump-point threshold function |
| 基金项目: |
| 作者 | 单位 | | 金震* | | | 黄卫华* ** *** | | | 李传奇* | | | 何佳乐* | |
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| 摘要点击次数: 1758 |
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| 中文摘要: |
| 针对跳点搜索（JPS）算法预处理规则不安全、大规模地图中存在跳点多且混乱的问题，设计了一种基于改进JPS和A*算法的组合规划算法。首先，改进了JPS算法的跳点筛选规则且对冗余的中间跳点进行删减，通过引入安全性评估模型保证规划路径的安全性；然后，根据路径搜索环境的复杂度设计了一种跳点阈值函数，在此基础上将改进JPS算法与A*算法相结合构成组合路径规划算法，该算法根据跳点的数量对路径搜索中后继节点拓展策略进行不同的选择，由此减少计算节点的数量并达到提高路径全局规划效率的目的；最后，仿真实验结果表明，当地图规模越大或非对称路径越多时，本文所设计的改进JPS和A*算法提高路径规划的安全性和效率性效果越明显。 |
| 英文摘要: |
| Aiming at the problems of unsafe preprocessing rules and chaotic jump-points in large-scale maps of jump point search (JPS) algorithm, a combination path planning based on improved JPS+A* algorithm is designed. Firstly, the JPS algorithm’s jump-point filtrating is improved and the intermediate jump-points is cut, the security evaluation model is introduced to ensure the security of the planned path. Then, according to the complexity of the map environment, a jump-point threshold function is designed. On the basis of this, the improved JPS algorithm combined with A* algorithm constitutes a combination path planning algorithm. According to the number of jump-points, the algorithm selects the expansion strategy of successive nodes flexibly in the path planning. Finally, the simulation results show that the larger scale of the map or the more asymmetric paths, the more obviously the improved JPS+A* algorithm designed in this paper can enhance the safety and efficiency of the path planning. |
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