报告详情
Path Planning for Automated Valet Parking in Underground Parking Lots Based on UWB and Improved Bidirectional A* Algorithm
编号：52
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更新：2025-06-15 10:48:33 浏览：14次
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摘要
In increasingly complex underground parking environments, traditional path planning algorithms often struggle with low efficiency and poor path stability when handling long-distance parking tasks. To address these challenges, this paper proposes an improved bidirectional A* path planning method guided by virtual Ultra-Wideband (UWB) anchor points. The approach enhances the heuristic cost function by incorporating information from both forward and reverse search frontiers, which accelerates path convergence and reduces redundant node expansion. Additionally, virtual relay points are introduced via UWB positioning systems to guide the path direction, and the global task is executed in multiple stages to further improve search efficiency and robustness. Simulation results in the university's underground parking lot demonstrate that, compared with traditional A* and bidirectional A* algorithms, the proposed method significantly reduces both search time and node expansion, particularly in long-distance and multi-intersection scenarios. These results validate the feasibility and practicality of the proposed method for large-scale indoor automated valet parking (AVP) applications.
关键词
automated valet parking, path planning, A*, UWB
报告人
Liu Run
student SHENZHEN TECHNOLOGY UNIVERSITY稿件作者
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重要日期
-
会议日期
08月01日
2025
至08月04日
2025
-
06月23日 2025
初稿截稿日期
主办单位
中国机械工程学会设备智能运维分会
承办单位
新疆大学
联系方式
- Mrs. Yanruqiang
- ya******@xjtu.edu.cn
历届会议
-
2025年08月01日 中国 wulumuqi
2025 International Conference on Equipment Intelligent Operation and Maintenance -
2023年09月21日 中国 Hefei
第一届（国际）设备智能运维大会
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