Research on multipath planning problems based on an improved LPA* algorithm

Guanyu Chen; Yuan Tan; Guangjun Zeng; Fen Tang; Wenlu Zhou

doi:10.1117/12.3038338

7 August 2024 Research on multipath planning problems based on an improved LPA* algorithm

Guanyu Chen, Yuan Tan, Guangjun Zeng, Fen Tang, Wenlu Zhou

Proceedings Volume 13229, Seventh International Conference on Advanced Electronic Materials, Computers, and Software Engineering (AEMCSE 2024); 132292P (2024) https://doi.org/10.1117/12.3038338
Event: Seventh International Conference on Advanced Electronic Materials, Computers, and Software Engineering (AEMCSE 2024), 2024, Nanchang, China

Abstract

In this study, we propose an improved LPA* (Lifelong Planning A*) algorithm for multi-path planning tasks. This algorithm adds a step of path priority division based on the initial LPA algorithm and performs path planning in priority order. The study divides the planned paths into higher priority and lower priority, where the higher priority paths have less variation, ensuring the stability of the routes, while the lower priority paths have more variation. During the planning process, weighted processing is introduced for the nodes of the already planned higher priority paths to avoid conflicts between paths of different priorities and maintain the stability of the higher priority paths.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Guanyu Chen, Yuan Tan, Guangjun Zeng, Fen Tang, and Wenlu Zhou "Research on multipath planning problems based on an improved LPA* algorithm", Proc. SPIE 13229, Seventh International Conference on Advanced Electronic Materials, Computers, and Software Engineering (AEMCSE 2024), 132292P (7 August 2024); https://doi.org/10.1117/12.3038338

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