基于改进A*-人工势场算法的动态路径规划研究

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DOI：10.16652/j.issn.1004-373x.2026.10.024

关键词：动态路径规划；A*算法；人工势场算法；融合算法；动态避障；自动引导车

中图分类号：TN96-34；TP24

文献标识码：A

文章编号：1004-373X（2026）10-0166-06

Research on dynamic path planning based on improved A*-APF algorithm

Li He 1，2 ， Xu Yichun 1，2 ， Zhang Shang 1，2

（1. Hubei Provincial Key Laboratory of Intelligent Visual Monitoring of Hydropower Engineering， Yichang 443002， China; 2. School of Computer and Information， China Three Gorges University， Yichang 443002， China）

Abstract： Automatic pathfinding and obstacle avoidance in a dynamic real-time environment is a major challenge that automated guided vehicles （AGVs） must face in their daily work. In allusion to the large number of search nodes of the A* algorithm and the lack of stability of the artificial potential field （APF） algorithm， a fusion algorithm based on the improved A* algorithm and the improved APF algorithm is proposed to solve the dynamic path planning problem of AGV. The obstacle penalty factor is added to the heuristic function of the A* algorithm to reduce the expansion of irrelevant nodes， and the exponential attenuation factor is introduced into the APF algorithm to adjust the rationality of the repulsion potential. According to the distance between the AGV and the obstacle and the target point， the algorithm parameters are adjusted dynamically to improve the stability of obstacle avoidance. Then， a hierarchical planning architecture is introduced to effectively integrate the two improved algorithms and optimize the planning path. After the simulation experiments in the two scenarios， the comparison analysis of the path length， planning time and endpoint arrival rate are conducted. The simulation results show that the fusion algorithm has excellent planning path quality， high efficiency and strong security.

Keywords： dynamic path planning; A* algorithm; artificial potential field algorithm; fusion algorithm; dynamic obstacle avoidance; automated guided vehicle

0 引言

在智能交通领域，自动驾驶技术迅猛发展，其凭借效率高、安全性能好的优势，被广泛应用于日常生活、物流等行业中。（剩余8039字）