Path planning for EVs based on RA-RRT* model

The optimal path planning for EVs (electric vehicles) has gained great attention during the last decade due to zero pollution emission characteristics and limited power capacity of EV batteries. In this paper, an route search is proposed considering multiple charging stations in a dynamic urban environment, while it still applicable when initial available amount battery fails cover certain travel range. TRDP (transit design problem) TNDP node are used most feasible routes based on time driving range via improved route-assisted rapid random tree (RA-RRT*) algorithm. Considering status charge EV’s search, three states investigated between destination aggregators: (1) bypassing aggregators, (2) stopping over single aggregator, (3) aggregators. During (3), required that be charged at obtained by RA-RRT* algorithm approaching destination. tested dataset under conditions, is, traffic flow with congestion assigned target locations from given map data, comparison experiments efficacy verification.