An Optimal scheduling method using multi-agent A* for Autonomous shuttle bus

Autonomous vehicle has been gradually applied to airport passengers’ transportation recently which has received extensive interests. This paper introduces a scheduling optimization method of autonomous vehicle for passengers’ transport between the bus station and the airplane. Firstly, an improved A* algorithm is used to generate the candidate paths. Then a carbon emission model is devised to calculate the carbon emissions according to the number of passengers which is used as a constraint to select the optimal scheduling scheme and path length and then the cubic Bezier spiral path-smoothing algorithm is applied, which is composed of cubic Bezier spiral segments. As a result, the proposed method was implemented and evaluated in the airport simulation scenarios illustrate that the optimal scheduling scheme is obtained within 30 seconds.