Improved Optimal Path Finding Algorithm of Multistorey Car Park Based on MCP Protocol

Algorithm 1

ParkIG(K).

Input: reserve the first K free parking spaces as candidate empty parking spaces,

Output: The route distance and route of the nearest empty parking space.

Begin

1.  Use IPS technology to locate the location information I of the entrance of the parking lot, locate the vehicle's location information I_car in real time, and the initial number of layers of the vehicle N_layer←0;

2.  if the vehicle is on the ground and I=I_car

3.     then N_layer←N_layer+1;

4.  elseif the vehicle is underground and I=I_car

5.     then N_layer←N_layer-1;

6.  end if

7.  Load N_layer layer information; P← Free parking space;

8.  W← the Manhattan distance between the entrance, intersection, and the candidate’s empty parking space.; // The adjacency matrix

9.  P← {The first k parking spaces with the smallest Euclidean distance from the entrance in P};

10.  S[1~K]←0; H[1~K]←Ø; // Path distance S, path H of candidate parking spaces

11.  for i=1 to K do

12.     S_i, H_i←ParkD (P_i, W);

13.  end for

14.  S←min{S}; I←index (min{S}); H←H_I;

15.  Return S, H

End