優(yōu)化時(shí)間窗改進(jìn)Dijkstra算法的無(wú)人駕駛磁懸浮車路徑規(guī)劃

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關(guān)鍵詞：軌道交通；磁懸浮車；智能路徑規(guī)劃；Dijkstra算法；優(yōu)化時(shí)間窗中圖分類號(hào)：U292.4 文獻(xiàn)標(biāo)志碼：A 文章編號(hào)：1001-3695（2025）07-021-2080-06doi：10.19734/j. issn.1001-3695.2024.12.0515

Abstract：Aiming at thecharacteristicsof multi-vehicleoperationonthesame trackandhigh vehicle densityofautonomous maglev，thispaper studiedapath planning algorithmformaglevbasedonoptimizedtime windowand improvedDijkstra’salgorithm，whichtook intoaccountaseriesofrealisticproblemssuchaspathconflictandschedulingcost，andcombinedDijkstra's algorithmwiththetime windowtosequentiallplanthepathsof individualmaglevs.Firstly，itpre-processed hemapiformationbeforepathplanning，then generatedtheshortestpath index according tothemap nodes，andfoundthepathsaccordingto theindex.Secondly，itusedthetime windowtocheckthepathswithorwithoutconflicts.Then，itanalyzedtheconflictpaths specificall，andchanged thespeedofvehicletoavoidtheobstaclewithshorterconflicttime，itavoidedthepathsreplanning， andoptimizedtheorderruning timeonthebasisofcolision-free.Finally，itusedtheOpenTCSsoftware tosimulatethealgorithm.Theresults show thatunder thesame conditions，theaverage executiontimeofthe Dijkstraalgorithm after optimizing the time window is 0.328ms ，and the vehicle running time per kilometer is 36.64 s. Under the premise of no conflict paths， it improvedthereal-timeperformanceoftheordersandthevehicleoperation eficiency.Astheoperating kilometers increases， theadvantagesof thealgorithmbecomeincreasinglyapparent.Theproposedalgorithmcanmettherequirementsofcolisionfree path planning for autonomous magnetic guided vehicles.

Keywords：rail transit；maglevguidedvehicle；inteligentpath planning；Dijkstraalgorithm；optimize time window

0引言

永磁懸浮無(wú)人駕駛軌道交通系統(tǒng)是未來(lái)城市公共交通的主要形式之一，車輛同向三軌運(yùn)行，分低、中、高三線軌道，車輛一般運(yùn)行于中、高速車道，啟動(dòng)、停車階段運(yùn)行于低速車道，不同軌道之間設(shè)置變道系統(tǒng)，且同軌道同時(shí)多車運(yùn)行，所有車輛集中控制、無(wú)人駕駛，車流密度大，運(yùn)輸效率高。（剩余13060字）