顾青,豆风铅,马飞.基于改进A *算法的电动车能耗最优路径规划[J].农业机械学报,2015,46(12):316-322.
Gu Qing,Dou Fengqian,Ma Fei.Energy Optimal Path Planning of Electric Vehicle Based on Improved A * Algorithm[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(12):316-322.
摘要点击次数: 3162
全文下载次数: 2902
基于改进A *算法的电动车能耗最优路径规划   [下载全文]
Energy Optimal Path Planning of Electric Vehicle Based on Improved A * Algorithm   [Download Pdf][in English]
投稿时间:2015-08-18  
DOI:10.6041/j.issn.1000-1298.2015.12.043
中文关键词:  电动汽车  路径规划  A *算法
基金项目:“十二五” 国家科技支撑计划资助项目(2013BAB02B07)、国家高技术研究发展计划(863计划)资助项目(2011AA060408)和中央高校基本科研业务费专项资金资助项目(FRF-TP-15-023A1)
作者单位
顾青 北京科技大学 
豆风铅 北京科技大学 
马飞 北京科技大学 
中文摘要:提出一种基于改进A *算法的电动车能耗最优路径规划方法。根据车辆运行时的能耗,考虑能量损失与回收等因素,建立了运行能耗函数。设计了新的启发式能耗预估代价对A *算法进行改进,证明了所提出的启发式能耗预估代价满足可采纳性和一致性,确保改进的A *算法可获得能耗最优路径。针对电动车的里程焦虑问题,基于改进的A *算法,建立了根据车载电池的剩余电量、充电站位置、终点位置来寻找可达的能耗最小路径方法。仿真实验表明,提出的方法可以找到起点到终点的能耗最小路径,当车载电池能量不足时,可以找到经过充电站的可行最小能耗路径,减少里程焦虑,验证了所提方法的合理性和可行性。
Gu Qing  Dou Fengqian  Ma Fei
University of Science and Technology Beijing,University of Science and Technology Beijing and University of Science and Technology Beijing
Key Words:Electric vehicle  Path planning  A * algorithm
Abstract:With energy supplies intense increasingly and environmental protection being concerned in particularly, electric vehicle gained great development in recent years with the characteristics of low exhaust emission, low noise and independent of petroleum. For electric vehicle, the onboard battery capacity is limited. Therefore, the technology of energy utilization improvement has become the research focus. An improved A * algorithm based energy optimal path planning method for electric vehicle was proposed and verified. Energy consumption cost function was built with consideration of the energy loss and recuperation along the path. New heuristic estimated energy cost function was designed to improve A * algorithm. The heuristic estimated energy cost function was proved to be admissible and consistent, which can ensure the optimality of the improved A * algorithm. According to the range anxiety problem, a feasible energy optimal path planning method was proposed with consideration of the state of charge battery, the positions and altitudes of the charging stations and destination. Simulation experiments showed that the proposed method can find the energy optimal path between the origin and the destination. When the battery energy was low, the proposed path planning method can find the feasible energy optimal path with a charging station to reduce range anxiety, which verified the rationality and feasibility of the proposed method.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

   下载PDF阅读器