A Hybrid Path Planning Algorithm Based on Floyd and A* Theory

Automatic driving system mainly includes four modules: perception, decision-making, planning and control. Path planning system finds the best route between the starting point and the end point for autonomous vehicles, and its accuracy and real-time directly determine the efficiency and safety of unmanned driving. In this paper, a vehicle model and a high-precision map are built as the precondition of the algorithm. After analyzing and comparing the problems of Floyd algorithm and A* algorithm, a hybrid path planning algorithm is proposed, which can give consideration to both global optimality and real-time. Meanwhile, collision detection rules and trajectory generation strategies are designed. Through the simulation experiment of Matlab/Simulink software platform, it is confirmed that the algorithm can meet the practical application requirements and achieve the expected performance.