论文标题
基于搜索的路径规划算法用于自主停车：多先驱混合动力a*
Search-Based Path Planning Algorithm for Autonomous Parking:Multi-Heuristic Hybrid A*
论文作者
论文摘要
本文提出了一种自动停车的新方法。由于其便利性，自主停车场引起了很多关注，但是由于环境复杂和车辆的非自主限制，很难在短时间内获得无碰撞和可行的道路。为了解决这个问题，本文介绍了一种新型算法，称为多效力杂种A*（MHHA*），该算法结合了多螺旋a* and Hybrid a*的特征。因此，它可以提供保证，以避免局部最小值和次级临时性，并在短时间内产生可行的路径。本文还提出了一种基于坐标转换的新碰撞检查方法，该方法可以提高计算效率。在模拟实验中，将所提出的方法的性能与杂化A*进行了比较，并且已经证明了其优越性。
This paper proposed a novel method for autonomous parking. Autonomous parking has received a lot of attention because of its convenience, but due to the complex environment and the non-holonomic constraints of vehicle, it is difficult to get a collision-free and feasible path in a short time. To solve this problem, this paper introduced a novel algorithm called Multi-Heuristic Hybrid A* (MHHA*) which incorporates the characteristic of Multi-Heuristic A* and Hybrid A*. So it could provide the guarantee for completeness, the avoidance of local minimum and sub-optimality, and generate a feasible path in a short time. And this paper also proposed a new collision check method based on coordinate transformation which could improve the computational efficiency. The performance of the proposed method was compared with Hybrid A* in simulation experiments and its superiority has been proved.
