TY - GEN
T1 - A Novel A-star Algorithm for Vehicle Path Planning in Complex Scenes
AU - Long, Shijun
AU - Li, Ying
AU - Cao, Dongpu
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, a novel A-star algorithm with an improved heuristic function is proposed for autonomous vehicle path planning. Firstly, the direction guidance operator and distance weight coefficient are added to the heuristic function, which greatly reduces the expanded nodes and the search area of the algorithm in the search process. Secondly, the generated path is re-optimized to eliminate redundant nodes, this can improve the smoothness of the path, and further shorten the length of the path. Finally, the algorithm is tested in several different complex scenes. The experimental results demonstrate that the proposed algorithm performs exceptionally well in regards to path length, search time, and smoothness.
AB - In this paper, a novel A-star algorithm with an improved heuristic function is proposed for autonomous vehicle path planning. Firstly, the direction guidance operator and distance weight coefficient are added to the heuristic function, which greatly reduces the expanded nodes and the search area of the algorithm in the search process. Secondly, the generated path is re-optimized to eliminate redundant nodes, this can improve the smoothness of the path, and further shorten the length of the path. Finally, the algorithm is tested in several different complex scenes. The experimental results demonstrate that the proposed algorithm performs exceptionally well in regards to path length, search time, and smoothness.
KW - A-star algorithm
KW - heuristic function
KW - re-optimized
UR - https://www.scopus.com/pages/publications/85182732068
U2 - 10.1109/DTPI59677.2023.10365479
DO - 10.1109/DTPI59677.2023.10365479
M3 - Conference contribution
AN - SCOPUS:85182732068
T3 - 2023 IEEE 3rd International Conference on Digital Twins and Parallel Intelligence, DTPI 2023
BT - 2023 IEEE 3rd International Conference on Digital Twins and Parallel Intelligence, DTPI 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Conference on Digital Twins and Parallel Intelligence, DTPI 2023
Y2 - 7 November 2023 through 9 November 2023
ER -