Research On Path Planning Method Based On Improved A^* Algorithm Combined With Potential Field Method

In recent years,with the rapid development of civil aviation in China,the throughput of airports continues to rise,which brings great challenges to the operation of airports.For the complex layout of large airports,only relying on manual decision guiding vehicle path planning can not meet the requirements of airport efficiency.At present,each path planning algorithm has some limitations and defects,which can not meet the actual demand.Therefore,it is of great research value to improve the original algorithm and apply it to practical guide vehicle path planning to improve airport efficiency.In this thesis,global and local methods are used to provide route planning for the guide car.Firstly,A^* algorithm was used to carry out global path planning for the airport environment.By increasing security threshold,removing redundant nodes and Bessel curve,the traditional algorithm was improved to solve the problems of low security,redundant nodes,large turning Angle and long planned path.Secondly,the potential field method is used to carry out local path planning for the temporary dynamic or static obstacles in the driving process of the guide vehicle,which is improved by increasing escape force and improving the repulsive potential field function.The hybrid path planning algorithm is designed by combining the two algorithms to meet the actual needs of the guide car path planning in the actual airport environment.Finally,a guide car path planning system software is designed for airport personnel.Through comparative analysis of experiments,compared with the traditional algorithm,the path length planned by the improved A^* algorithm is reduced by8.81%,the number of path turning is reduced by 61.89%,and the planned path is smoother.The improved potential field method overcomes the problems of local minimum value and unreachable target point in local path planning.The hybrid path planning algorithm is used to avoid dynamic and static obstacles and reach the target position accurately in airport path planning.At the same time,the path planning system software design can better check the status of the guide car for airport service personnel,provide the optimal driving path for drivers,and improve the efficiency of airport management and service.