CAJ | 학술논문

为了避免设置运行参数，稳定地生成多条航迹，提出一种基于分级规划策略的 A*算法多航迹规划技术。采用分级规划策略将规划过程分成初始航迹规划和精细航迹规划两部分。在初始航迹规划中，通过设置中间航迹点并利用 A*算法得到多条初始可行航迹，然后为了避免 K 均值算法对初始聚类中心敏感的问题，提出采用层次聚类法对所得到的初始可行航迹进行聚类，得到初始参考航迹。在精细航迹规划中，设计了一种变宽度的航迹规划通道，并在通道内进行航迹规划以得到最终的多条航迹。仿真实验证明了算法的可行性。
위료피면설치운행삼수，은정지생성다조항적，제출일충기우분급규화책략적 A*산법다항적규화기술。채용분급규화책략장규화과정분성초시항적규화화정세항적규화량부분。재초시항적규화중，통과설치중간항적점병이용 A*산법득도다조초시가행항적，연후위료피면 K 균치산법대초시취류중심민감적문제，제출채용층차취류법대소득도적초시가행항적진행취류，득도초시삼고항적。재정세항적규화중，설계료일충변관도적항적규화통도，병재통도내진행항적규화이득도최종적다조항적。방진실험증명료산법적가행성。
In order to avoid setting operating parameters and generate multiple routes steadily,a multiple routes planning for the A* algorithm based on hierarchical planning is proposed.The hierarchical planning is in-troduced to divide the planning process into two parts,the initial route planning and the fine route planning.In the initial route planning,many feasible routes are obtained by setting the middle route point and the A* algo-rithm,then the hierarchical clustering method is presented to obtain the initial reference route so as to avoid the weakness of K-means clustering sensitive to the initial clustering center.In the fine route planning,a variable width path planning channel is designed,and the final multiple routes are obtained by planning in the channel. Simulation results prove the feasibility of the algorithm.