最短路径Dijkstra算法改进

摘要

本文提出改进型最短路径Dijkstra算法，以凸边形障碍物的顶点为网络节点，最短路径为代价函数，寻找一条连接起始点与终点之避障路径。通过顺时钟方向搜寻与逆时钟针方向搜寻两种模式，可大幅减小所有节点代价函数的评估时间。%This paper presents an improved shortest path Dijkstra＇s algorithm to convex polygon vertices of obstacles for the network node,the shortest path cost function,to find a starting point and end point of the connecting path to avoid obstacles.Search by clockwise and counterclockwise direction of the needle search modes,all nodes can significantly reduce the cost function evaluation time.