动态目标的Field D＊算法及路径的提取计算

The Algorithm for the Dynamic Object based on Field D＊ Algorithm and the Method of Path Extraction

FieldD*算法计算的路径消耗较优并较为平滑,但该方法的计算量很大,尤其是在对动态目标的规划时,计算时间无法满足实际要求。针对该缺陷,在对FieldD*计算原理分析的基础上,提出了在目标是动态的情况下,只进行前目标与新目标的路径规划,并对FieldD*计算所得路径消耗只进行局部修改的动态规划算法,该动态算法可以有效减少计算量。将得到的路径消耗值应用到路径的提取算法中,路径提取算法针对路径消耗的不同情况下,提出不同的路径提取方法,并最终得出总体路径消耗最优的路径。在以栅格法建立的数字海图中进行仿真验证,该动态计算和路径提取算法与D*算法相比,计算所得的路径更为平滑,路径的总体消耗也更少,缺点是所需计算时间略长。

The algorithm of Field D＊ about path planning could design the smooth and less costly way for the vehicle, but the cost and the time of computation, especially when the target is dynamic, is too large to be acceptable. throughout the research of the theory of Field D＊, when object is dynamic, it is brought forward the dynamic planning method which only make some local modification to the designed path from computing the previous target and the new one. This method could reduce the cost of computation phenomenally.After that, the cost of raster is applied to the algorithm of computing the path which works out the effective way in each node based on the different condition of the cost, this method gets the optimal path in the cost finally. Through the simulation based on the digital map with the uniform grids, when compared with the D＊ algorithm, the results of the dynamic algorithm and the algorithm of computing path can effectively build the smooth path and reduce the cost of path phenomenally, the shortcoming is more costly in time using.