一种复杂场景下便捷通行路径规划新方法

打开文本图片集

中图分类号：TP391.92 文献标志码：A文章编号：1001-5922（2025）05-0147-04

Abstract：At present，the conventional trafic path planning algorithm mainly optimizes the shortest path by constructing a dep learning model. However，due to the lack of detailed modeling of complex scenes，the path planning effctis not good.Inthis regard，anoptimization algorithmforconvenient passage path planning in complex scenarios was proposed.Firstly，the vehicle-mounted sensor was used to extract the keypoint information of theobstacle and construct a global coordinate system.Then，based on the passability ofthe site，a raster map was constructed to realize scene modeling.The path planning problem was transformed into the shortest travel time solving problem，and the objective function wasconstrained bycombining the path repetitionand travel speed.Finally，the heuristic function was introducedto optimize the smothness of the objective function planning results，soas to outputtheoptimal planning results.The test results showed that when the proposed method was used to planthe optimal path，the average path length of the algorithm was shorter，and the path planning effect is more ideal.

Key words ：complex scenarios ； path planning；shortest paths ； objective functions； access

路径规划算法的核心目标在于寻找出一条最短的通信路线，使目标对象能够到达移动终点的同时，实现避障操作，并以最少的能耗完成配送任务。（剩余5684字）