Research on cross-regional path planning algorithm for aircraft unmanned tractor based on improved A* algorithm
Authors: 
Wang Zheng, Wang Xin, Feng Gu, and Lin SunAuthors Info & Claims
Wang Zheng, Wang Xin, Feng Gu, and Lin SunAuthors Info & ClaimsDecember 2023
Pages 507 - 513
Abstract
Unmanned tractors can replace experienced drivers in driving and warehousing aircraft on the ground. When the airport and hangar environment is more complex, higher requirements are also put forward for the path planning algorithm. The A* algorithm is a heuristic search algorithm widely used in path planning. Improved based on the classic A* algorithm, it can avoid obstacles across regions while improving efficiency and reducing path cost consumption. First, a region segmentation method was designed, and then the evaluation function was redesigned to avoid falling into local optimality. At the same time, it was improved to delete child nodes that have passed the obstacle vertex when selecting child nodes to avoid collisions. Finally, the optimisation path was improved, redundant nodes were deleted, and secondary optimisation was performed to reduce the number of turns and the total number of turns. Simulation experiments were conducted through Matlab, and the data showed that the improved A* algorithm has high smoothness, avoided collisions, reduced crossing areas, and saved movement time.
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Index Terms
- Research on cross-regional path planning algorithm for aircraft unmanned tractor based on improved A* algorithm
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Published In
December 2023
563 pages
ISBN:9798400708688
DOI:10.1145/3638584
Copyright © 2023 ACM.
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 14 March 2024
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CSAI 2023
CSAI 2023: 2023 7th International Conference on Computer Science and Artificial Intelligence
December 8 - 10, 2023
Beijing, China
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