摘要： 分析最小时间规划算法，针对算法在应用上存在的不足，在研究SPFA静态规划算法的基础上，结合该规划算法的优点，提出一种改进的最小时间路径规划算法。实例验证结果表明，该算法能够提供实时、高效、预测性强的规划路径，在城市交通中较好地满足用户的需求。

关键词: 路径规划, 最小时间, SPFA算法, 时间依赖网络, 行程时间, 邻接表

Abstract: This paper analyzes the two minimum time planning algorithms. In allusion to deficiencies in the application of the algorithm, based on the SPFA static planning algorithm, combined with the advantages of the two planning algorithms, it proposes a minimum time path planning improved algorithm. Example results show that the algorithm can provide path planning with real-time, high efficiency and predictability. It better meets the needs of users in urban traffic.

Key words: path planning, minimum time, SPFA algorithm, Time-dependent Network(TDN), travel time, adjacency list

中图分类号: 

• TP18