Improved Hybrid A-Star Algorithm for Path Planning in Autonomous Parking System Based on Multi-Stage Dynamic Optimization

Meng, Tianchuang; Yang, Tianhong; Huang, Jin; Jin, Wenrui; Zhang, Wei; Jia, Yifan; Wan, Keqian; Xiao, Gang; Yang, Diange; Zhong, Zhihui

doi:10.1007/s12239-023-0038-1

Cited by 10 publications

(1 citation statement)

References 35 publications

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“…Simulation results indicated that the hierarchical trajectory planner operates significantly faster than prevalent methods when dealing with unstructured environments featuring narrow passages. To further enhance path safety and efficiency in autonomous parking systems, Meng et al [28] proposed an improved Hybrid A* algorithm through safety-enhanced and efficiency-enhanced designs. Simulation experiments verified that the improved algorithm not only generates a much safer path, staying farther from obstacles, but also significantly improves searching efficiency in terms of time and space at a finite cost of preprocessing work that can be repeatedly utilized.…”

Section: Introductionmentioning

confidence: 99%

Hybrid A*-Based Valley Path Planning Algorithm for Aircraft

Xue,

Cao,

Zhao

et al. 2024

Aerospace

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This paper presents a valley path planning algorithm based on the Hybrid A* algorithm. This algorithm is aimed at finding the valley path for aircraft considering dynamics constraints and terrain limitations. The preliminaries involve the establishment of a 3D workspace based on digital elevation map (DEM) data and addressing methods of valley detection. Following this comprehensive groundwork, the Hybrid A*-based algorithm, employed to determine the valley path within the 3D workspace while accommodating dynamic constraints and terrain limitations, is then introduced. In the experimental test, to validate the effectiveness of the algorithm proposed in this paper, we tested the performance of the proposed algorithm and other three baseline algorithms based on four optimization objectives in three workspaces. The simulated results indicate that the algorithm proposed in this paper can effectively find the valley path while considering dynamic constraints and terrain limitations.

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Section: Introductionmentioning

confidence: 99%