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Outline
This paper aims to improve the existing hybrid A* algorithm in view of the issues such as excessive reliance on resolution and paths being overly close to obstacles. Firstly, the distance calculated by KD-Tree is employed as a penalty term and incorporated into the cost function of the hybrid A* algorithm. Secondly, the node expansion distance is dynamically modified in accordance with the distance between the vehicle and the obstacle to realize the dynamic expansion of nodes, ensuring search efficiency while enhancing safety. Then, each node undergoes curvature-based cyclic checking to recall nodes that meet the Reeds-Shepp (RS) curve generation conditions but are previously overlooked due to fixed RS curve curvature. Finally, the curvature of the RS curve is dynamically altered based on the distance between the vehicle and obstacles, enabling the generated RS curve to have a moderate curvature and maintain a safe distance from the obstacles. Experiments demonstrate that, compared with traditional algorithms, the proposed algorithm shortens the search time by 7.18%, reduces the maximum curvature by 63.63%, and increases the minimum distance between the path and the obstacle by 143.94%, effectively enhancing the quality of the generated path.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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