摘要
面向陆战场兵力机动过程中存在的大范围地域越野路径规划需求,研究并设计了基于通行性分析的分层越野路径规划方法。该方法聚焦大范围地域路径规划效率和可行性,提出一种分层规划方法,通过构建两种不同分辨率的地图栅格实现分层路径规划,并结合地表覆盖和地表粗糙度进行区域通行性分析,针对性构建了A*算法的估价函数。仿真实验结果表明,该路径规划方法能够有效提升算法效率,越野路径规划结果合理可行。
Aiming at the problem of large-scale off-road path planning in military maneuver,this paper studies and designs a hierarchical off-road path planning method based on trafficability analysis.This method proposes the concept of hierarchical planning,constructs two map grids with different resolutions for hierarchical path planning,analyzes the trafficability combined with the influence of surface coverage and surface roughness,and reconstructs the evaluation function of A* algorithm. The simulation results show that the path planning method can effectively reduce the amount of algorithm calculation and reasonably plan the field traffic path.
作者
闫星宇
杜伟伟
石昊
YAN Xingyu;DU Weiwei;SHI Hao(North Automatic Control Technology Institute,Taiyuan 030006,China)
出处
《火力与指挥控制》
CSCD
北大核心
2022年第5期153-158,共6页
Fire Control & Command Control
关键词
分层规划
通行性分析
越野路径规划
A*算法
hierarchical planning
trafficability analysis
off-road path planning
A*algorithm
