趋向性锁链式路径规划算法

Tendentious Chained Path Planning Algorithm

摒弃传统点生点式路径规划方法,提出一种受人脑思维启发的新型趋向性锁链式路径规划方法。通过构建直通不可达路径,并以旋转方向模量增殖该路径,从而实现线生点式路径规划。以锁链式增殖方式替代点阵搜索,依靠族树矩阵生长完成障碍物绕行,最终获得趋向性更显著的路径,同时实现栅格访问量从幂次级到倍数级的降级。结果表明,所设计的趋向性锁链式路径规划方法,在实际路径规划时,响应更快、距离更短、趋向性更显著。

One novel tendentious chained path planning method inspired by the mode of human brains is proposed.Abandoning the traditional point-to-point path planning method,this method realizes line-generated point-based path planning by constructing a straight-through unreachable path and enriching it with rotation direction modulus.Instead of point searching,chained multiplication is utilized to achieve obstacle bypassing through the growth of a family tree matrix.This ultimately leads to the degradation of raster access from a power to a multiplicative level while obtaining paths with a more significant tendency.The results demonstrate that the designed tendentious chained path planning method offers faster response,shorter distance,and a more significant tendency in real path planning.