Aiming at the problems of too many extended nodes,long search time,poor smoothness and se-curity in traditional jump search algorithm,a combination algorithm of jump search algorithm and B-spline curve is proposed.The heuristic function of the algorithm is improved by introducing the bidirectional jump search strategy,searching alternately from the positive and negative directions and combining the bidirec-tional minimum real cost node's current position.The method of ending the search without obstacles in the middle of the node with minimum real cost in positive and negative directions is added to avoid local opti-mization of the search path.The curve optimization of the generation path is carried out by using the 3rd or-der B-spline curve.The simulation results show that compared with the existing path planning algorithm,the improved algorithm has less extended nodes,shorter search time and higher search efficiency.
jump point searchpath planningcurve optimizationheuristic function
万方数据
维普
