With the development of intelligent technology,unmanned vehicle path planning technolo-gy will play an important role in the future unmanned battlefield.In response to the issue of A*algorithm being prone to collision with obstacles,an improved turning mechanism is proposed to avoid collisions.A modified A*ant colony fusion algorithm is proposed for path planning to address the issues of long and in-sufficiently smooth paths.The simulation results show that the obtained path length and smoothness are better with the improved A*ant colony fusion algorithm,with a 2.34％reduction in path length and a 5.62％reduction in total turning angle in simple maps.In complex maps,the length of the road path is re-duced by 2.62％,and the total turning angle is reduced by 26.3％.Therefore,this algorithm is beneficial for unmanned vehicles to quickly complete corresponding tasks while ensuring obstacle avoidance.
关键词
无人车/路径规划/A*蚁群融合算法/转弯机制
Key words
unmanned vehicles/path planning/A* ant colony fusion algorithm/turning mechanism
万方数据