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《Electronics Optics & Control》 2009-09
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On Multi-Thread Parallel Path Planning Based on A~* Algorithm

XU Lijun1,XIAN Yong1,YANG Qi2,SU Guohua1 (1.The Second Artillery Engineering College,Xi'an710025,China;2.Qingzhou Petty Officer School,Qingzhou262500,China)  
Parallel computing is an effective way for improving the speed of path planning,and the A* algorithm has the characteristic of connotative parallelism.By using the technology of multi-CPU and multi-thread,the parallel computation can be implemented without a workstation or computer-workgroup,so A* algorithm can be implemented on single computer.Based on analysis to the parallelism characteristic of A* algorithm,we made corresponding improvement to its parallel algorithm,and used it in path planning of cruise missiles.Simulation result showed that the improved parallel algorithm can greatly improve the calculation speed and stability without changing the path planning result,which is very helpful to fast path planning.
【Fund】: 总装预研项目(513220302)
【CateGory Index】: TJ765
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