Improved hierarchical A-star algorithm for optimal parking path planning of the large parking lot

Which path was the optimal path in a large parking guidance system? Obviously, only considering the shortest distance is not enough, only considering the shortest time is an ideal goal but not easy to realize, so introduced a feasible time-optimal evaluation in parking path planning. It can not only simplify hardware design of the guidance system, but also reduce the software cost. Mathematical model R (P, C, D, V) of the parking lot network diagram was established, the all nodes in R (P, C, D, V) were divided into two layers and different evaluation functions were built. According to the improved time-optimal evaluation, the design used the improved A-star algorithm to increase searching efficiency and precision. Finally, the result of running the program shows that the algorithm can quickly find out the different time-optimal path for different attribute parameter.