Path planning algorithm based on hierarchical road network

In order to improve the efficiency of path planning,a heuristic search algorithm was presented,which was based on the hierarchical road network and used binary heap to manage the open list.According to the characteristics of the network classification,the hierarchical map database was established.This article made the heuristic A* algorithm as the main search mode,and used the binary heap to manage the open list,thus realizing path planning.The statistical results of average time consumption of different algorithms show that: The efficiency of A* algorithm is improved about four times than Dijkstra algorithm.The use of binary heap makes time consumption reduced 5%.Last,the stratified strategy makes the proportion of fast sections reach 90% or more,and path planning is completed in 3 seconds.The results of experiments prove that this algorithm has high efficiency,and it also can meet the drivers' psychological needs.