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For the defects of traditional A* algorithm in unmanned vehicle path planning in structured road scene, such as multiple twists and turns of search path, close to obstacle boundary, unsmooth and exponential growth trend of search time with the increase of grid scale, this paper proposed an improved A* algorithm. Firstly, the map preview module was used to extract the key nodes in the grid map, then the collision field model based on the safe distance was introduced to adjust the cost function. The algorithm conducted incremental extended search based on the information of key nodes until the target node was identified. Finally, the generated path was smoothed by quasi uniform cubic B-spline curve to obtain the final planned path. The simulation results show that compared with the traditional A* and weighted-A* algorithm, the improved A* algorithm proposed in this paper improves the search efficiency, path security and feasibility.
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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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