一種復(fù)雜場景下便捷通行路徑規(guī)劃新方法

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中圖分類號：TP391.92 文獻(xiàn)標(biāo)志碼：A文章編號：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

路徑規(guī)劃算法的核心目標(biāo)在于尋找出一條最短的通信路線，使目標(biāo)對象能夠到達(dá)移動(dòng)終點(diǎn)的同時(shí)，實(shí)現(xiàn)避障操作，并以最少的能耗完成配送任務(wù)。（剩余5684字）