基于改进A*算法的越野路径规划研究

针对车辆的越野路径规划问题, 研究并分析了地形坡度和地表属性对于车辆路径规划的综合影响。引入了窗口移动法对地形进行先期的坡度计算和通行性分析, 就轮式车辆和履带式车辆分别建立了地表属性的粗糙度评价指标, 并采用面积占优法将地表属性栅格化。通过建立禁忌表, 叠加了坡度与粗糙度的约束影响以减少搜索范围, 提高搜索效率。构造了改进A*算法的估价函数, 并结合expand表、open表、closed表以及path表设计了考虑坡度和粗糙度约束的路径优化算法。仿真结果表明, 该算法能够快速有效地实现符合真实地形环境的越野路径规划。

Research of cross-country path planning based onimproved A*algorithm

According to the vehicle's cross-country path planning problem, this paper researched and analyzed the synthesis influence of the terrain slope and attribute of the earth's surface for path planning. With the introduction of window moving method to beforehand judgment and capacity analysis about terrain slope, it established the rating index of roughness about wheeled vehicles and crawler vehicles, and rasterized attributes of the earth's surface with the area dominant method. It stacked constraint effect of slope and roughness in order to reduce the search scope and improved the search efficiency through tabu table. It structured the evaluation function of improved A* algorithm, and connecting with the expand table, open table, closed table and path table, designed path optimization algorithm with the consideration of slope and roughness constraint. The simulation results show that the algorithm can effectively realize cross-country path planning according with real terrain environment.