基于优化A*算法的越野最短路径规划研究

Research on Cross Country Shortest Path Planning Based on Optimized A* Algorithm

综合考虑了地形要素和地貌对越野车辆机动的影响,并基于此,提出一种启发式A*算法的优化方案。首先将复杂的地形环境进行地形量化表达,然后通过对A*算法的估价函数进行优化,探讨在起点和终点确定前提下的时间最短路径规划问题。通过理论分析和实验结果表明,该算法在越野路径规划问题求解上具有可行性和准确性。研究结果可为相关工作提供参考。

This paper proposed a heuristic A* algorithm based on comprehensive consideration of the influence of terrain elements and topography on off-road vehicle mobility. Firstly, the complex terrain environment was expressed quantitatively, and then the shortest time path planning problem was discussed under the premise of determining the starting point and end point by optimizing A* algorithm evaluation function. Theoretical analysis and experimental results show that the algorithm is feasible and accurate for solving cross-country path planning problems.