车载导航系统中动态路径规划.pdf

摘要 I 摘要车载导航系统是指利用各种先进技术,向行驶在道路上的车辆提供实时交通信息,引导出行者避开拥挤路段,沿最佳路线到达目的地的系统。此系统可以在大范围进行交通流疏导,从而缓解道路交通拥挤状况。路径规划则是车载导航系统的核心部分之一,是车载导航实现路径诱导的前提,完善路径规划对车载导航系统的发展及对现代道路交通管理具有非常重要的影响。本文从路径规划基本理论入手,进行以下四方面的拓展研究:首先对车载导航系统、路径规划、信息采集及它们三者之间的关系进行了分析,通过分析得出对路径规划算法及对基于RFID技术信息采集中涉及到的标签估算、标签防碰撞算法研究的重要性。其次以最优路径为目标,采用动态路径规划的方法,研究了基本蚁群算法的原理及此算法在路径规划方面存在的优缺点,提出了一种改进蚁群算法。通过改进距离启发因子对下一节点的影响及引入多个路径质量约束来改进信息素更新规则,达到提高全局搜索能力、加快收敛速度及逼近真实环境的目的,并通过仿真实验对此算法进行了验证。在进行标签估算算法研究过程中,通过对系统时隙概率分析,探讨了时隙概率及吞吐率与标签数目的关系,在分析现有标签估算算法优缺点的基础上,提出一种新型的动态标签估算方法,从全局出发,采用动态调整策略进行标签估算,并将此改进算法与目前已有的几种算法进行比较分析。最后对标签防碰撞算法进行了研究。阐述了标签估算算法的意义,对增强型动态桢时隙ALOHA防碰撞算法和自适应多叉树搜索算法进行了重点分析,并在二者的基础上提出一种混合型标签防碰撞算法,通过对标签数目进行分组,及根据碰撞标签数目选择合适的叉数对标签进行识别,达到节省时隙数目及提高识别效率的目的。关键词车载导航;路径规划;信息采集;蚁群算法;标签估算;标签防碰撞江苏科技大学工学硕士学位论文 II Abstract III Abstract Utilizinga variety of advanced techniques, the navigation system could provide the best route based on the real-time traffic information for the driver, achieving the purpose of avoiding crowded sections. This system could guide traffic flow in a wide range, so asto relieve the traffic congestion situation. Path planning is one of the core parts in the vehicle navigation system, and at the same time,is the premise of vehicle navigation system realizing route guidance. Meanwhile, perfect path planning does really matter to the development of the vehicle navigation system and has a very important impact on the modern road transportation. This article begins with introducing the theory of path planning, expanding research mainly towards the following four aspects: Firstly,the vehicle navigation system, path planning, information collection and the relationship among them are analyzed. Then the importance to learn path planningalgorithm,tags quantity estimation and tags anti-collision algorithm which are the key problems in information collection that is based on RFID technology is obtained. Secondly, aiming at optimal path and adoptin