[1]赵 佩,李雨佳,王志胜.基于能耗优化的无人车路径规划算法[J].机械与电子,2025,(04):3-11.
　ZHAO Pei,LI Yujia,WANG Zhisheng.Path Planning Algorithm for Unmanned Vehicles Based on Energy Consumption Optimization[J].Machinery & Electronics,2025,(04):3-11.
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基于能耗优化的无人车路径规划算法()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年04期
页码:
3-11
栏目:
研究与设计
出版日期:
2025-04-25

文章信息/Info

Title:
Path Planning Algorithm for Unmanned Vehicles Based on Energy Consumption Optimization
文章编号:
1001-2257 ( 2025 ) 04-0003-09
作者:
赵 佩; 李雨佳; 王志胜
南京航空航天大学自动化学院,江苏 南京 211106
Author(s):
ZHAO Pei ;  LI Yujia ;  WANG Zhisheng
( School of Automation , Nanjing University of Aeronautics and Astronautics , Nanjing 211106 , China )
关键词:
路径规划; 无人车能耗模型; 聚类; 贪婪算法; 启发式算法
Keywords:
path planning ;  unmanned vehicle energy consumption model ;  clustering ;  greedy algorithm ;  heuristic algorithm
分类号:
TP18 ; U492.22
文献标志码:
A
摘要:
为提高无人车的能效,实现无人车能耗最少成为实际应用的一个重要目标。首先建立一个基于道路特性的物理能耗模型,用于计算路径规划中的能耗。在此基础上,采用贪婪算法求出地图内任意 2 点间的最小能耗路径,将不可直接通行的节点路径或可直接通行但非能耗最优的节点路径转化为最低能耗路径。然后,进一步定义相应的约束条件,得到多目标点路径规划问题的模型。最后,针对启发式搜索算法在求解大规模多目标点路径规划时存在的求解效率低和近似最优解可行性不佳问题,提出了一种基于聚类的启发式优化策略。实验结果表明,该方法能更好地求解大规模多目标点路径规划问题,使无人车在实际应用场景中实现更高效、节能的自主导航。
Abstract:
To improve the energy efficiency of unmanned vehicles , implementing a minimum energy consumption strategy has become a crucial goal in practical applications.First , a physical energy consumption model based on road characteristics is established.On this basis , a greedy algorithm is employed to calculate the minimum energy consumption path between any two points on the map , converting paths that are either impassable or directly passable but not energy optimal into the lowest energy consumption paths.Subsequently , corresponding constraints are defined to develop a model for multi-target path planning.Finally , to address the low efficiency and poor feasibility of approximate optimal solutions in heuristic search algorithms for solving multi-target path planning problems , a clustering based heuristic optimization strategy is proposed.Experimental results show that this method effectively solves the multi-target path planning problem , enabling unmanned vehicles to achieve more efficient and energy saving autonomous navigation in practical scenarios.

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备注/Memo

备注/Memo:
收稿日期: 2024-09-11
基金项目:国家自然科学基金资助项目( 61903189 );南京航空航天大学研究生创新竞赛项目( 1003-016001 )
作者简介:赵 佩 ( 1998- ),女,陕西渭南人,硕士研究生,研究方向为路径规划、轨迹规划与控制等;李雨佳 ( 2000- ),女,山东临沂人,硕士研究生,研究方向为电池管理系统;王志胜 ( 1970- ),男,湖北荆门人,博士,教授,博士研究生导师,研究方向为智能机器人技术、智能感知与信息融合等,通信作者。
更新日期/Last Update: 2025-05-09