优化时间窗改进Dijkstra算法的无人驾驶磁悬浮车路径规划

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关键词：轨道交通；磁悬浮车；智能路径规划；Dijkstra算法；优化时间窗中图分类号：U292.4 文献标志码：A 文章编号：1001-3695（2025）07-021-2080-06doi：10.19734/j. issn.1001-3695.2024.12.0515

Abstract：Aiming at thecharacteristicsof multi-vehicleoperationonthesame trackandhigh vehicle densityofautonomous maglev，thispaper studiedapath planning algorithmformaglevbasedonoptimizedtime windowand improvedDijkstra’salgorithm，whichtook intoaccountaseriesofrealisticproblemssuchaspathconflictandschedulingcost，andcombinedDijkstra's algorithmwiththetime windowtosequentiallplanthepathsof individualmaglevs.Firstly，itpre-processed hemapiformationbeforepathplanning，then generatedtheshortestpath index according tothemap nodes，andfoundthepathsaccordingto theindex.Secondly，itusedthetime windowtocheckthepathswithorwithoutconflicts.Then，itanalyzedtheconflictpaths specificall，andchanged thespeedofvehicletoavoidtheobstaclewithshorterconflicttime，itavoidedthepathsreplanning， andoptimizedtheorderruning timeonthebasisofcolision-free.Finally，itusedtheOpenTCSsoftware tosimulatethealgorithm.Theresults show thatunder thesame conditions，theaverage executiontimeofthe Dijkstraalgorithm after optimizing the time window is 0.328ms ，and the vehicle running time per kilometer is 36.64 s. Under the premise of no conflict paths， it improvedthereal-timeperformanceoftheordersandthevehicleoperation eficiency.Astheoperating kilometers increases， theadvantagesof thealgorithmbecomeincreasinglyapparent.Theproposedalgorithmcanmettherequirementsofcolisionfree path planning for autonomous magnetic guided vehicles.

Keywords：rail transit；maglevguidedvehicle；inteligentpath planning；Dijkstraalgorithm；optimize time window

0引言

永磁悬浮无人驾驶轨道交通系统是未来城市公共交通的主要形式之一，车辆同向三轨运行，分低、中、高三线轨道，车辆一般运行于中、高速车道，启动、停车阶段运行于低速车道，不同轨道之间设置变道系统，且同轨道同时多车运行，所有车辆集中控制、无人驾驶，车流密度大，运输效率高。（剩余13060字）