改进的分层A*算法在停车场路径寻优中的应用

Application of Improved Hierarchical A* Algorithm for Optimal Parking Path Planning 

摘要:

在大型停车场车位路径寻优中,传统的评价指标是把距离最短作为最优指标,并没有考虑实际路况,为此引入了切实可行的时间较优评价指标,既能简化引导系统硬件设计,又能节省软件开销;首先,建立了停车场网络图R(P,C,D,V)数学模型,并把网络中的所有节点分成两层,分别构建了不同的估价函数,采用改进的A*算法,提高了以时间较优为评价指标的路径搜索效率和搜索精度；最后,程序运行结果表明,针对不同的路段属性参数,算法总能较快的找到时间较优路径。

Abstract:

In the parking path optimization of the large parking lot, the shortest distance was often used as a single evaluation index traditionally, now, a feasible time optimal evaluation index is introduced, not only can simplify the hardware design of the guidance system, but also can save the software cost. Firstly, a mathematical model of parking lot network diagram R (P, C, D, V) is established, and all the network nodes are divided into two layers. Secondly, builds different evaluation function for different layer using the improved A* algorithm, it has improved the path searching efficiency and searching precision. Finally, the program result shows that the algorithm can find out the different time-optimal path according to the different attribute parameter very fast.