摘要
本文介绍了一种使用启发式估值函数进行二次搜索的路径规划方法，设计和实现了自主车的越野路径规划。首先是在领域式规划空间上进行领域式搜索，由于该空间是一种面向地形本身分布特点和性质的地形分割，解路径的粒度较粗，因此又进行了在栅格规划空间上的第二次搜索──栅格搜索，以对解路径进行细化，最佳结点只在三个方向上扩展，并取代价最小者。
This paper presents the design and implementation of cross-country path planning for an autonomous land vehicle based on a heuristic search method. This path planning consists of two searches by using heuristic evaluation functions. The first is a territory-formula search in territory-formula planning space which is a terrain separating based on inherent distributing quality and property of terrain. This searching path is rough. The second is a grid search in grid planning space for getting the minute sitepath. The best node is the smallest cost one expanded in three directions.
出处
《计算机研究与发展》
EI
CSCD
北大核心
1996年第7期533-540,共8页
Journal of Computer Research and Development
关键词
路径规划
栅格搜索
面向对象
机器人
自主机器人
Object-oriented programming,path planning,territory-formula search,grid search.
