顾及对象性能的越野路径规划系统设计与实现

Design and Implementation of Off-road Path Planning System Considering Object Performance

越野环境下的路径规划在军、民等多个领域都有着十分重要的应用价值。本文针对越野路径规划面临的诸多问题及挑战,制定了系统的设计原则、平台分层结构、技术路线以及具体功能,结合SQLite、Cesium、ice等关键技术平台研制了顾及越野对象性能的越野路径规划系统。系统基于越野环境地形地貌要素,结合越野对象自身性能属性参数,生成越野对象专用通行区域图;再利用路径规划算法,实现越野环境无道路情况下不同类型越野对象的专用路径规划;最后使用山西省朔州市地形地貌数据进行系统测试,并对测试结果进行介绍及展示。

Path planning in the off-road environment has very important application value in military and civilian fields.In view of many problems and challenges faced by off-road path planning,this paper formulates system design principles,platform hierarchical structure,technical routes and specific functions,and combines SQLite,Cesium,ice and other key technology platforms to develop off-road path planning that takes into account the performance of off-road objects system.Based on the topographic and geomorphic features of the off-road environment,combined with the performance attribute parameters of the off-road object,the system generates a special pass area map of the off-road object;then the path planning algorithm is used to realize the special path planning of different types of off-road objects in the off-road environment without roads;finally the system is tested using the topographic and geomorphic data of Shuozhou city,Shanxi province,and the test results are introduced and displayed.