计算机应用研究2013，Vol.30Issue(6)：1724-1726,3.DOI:10.3969/j.issn.1001-3695.2013.06.032
基于改进A*算法的越野路径规划研究
Research of cross-country path planning based on improved A * algorithm
吴天羿 1许继恒 1刘建永 1廖伟2
作者信息
- 1. 解放军理工大学野战工程学院,南京210007
- 2. 新疆军区司令部电教站,乌鲁木齐830042
- 折叠
摘要
Abstract
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.关键词
A*算法/越野路径规划/坡度/地表属性/粗糙度Key words
A * algorithm/ cross-country path planning/ slope/ attribute of the earth' s surface/ roughness分类
信息技术与安全科学引用本文复制引用
吴天羿,许继恒,刘建永,廖伟..基于改进A*算法的越野路径规划研究[J].计算机应用研究,2013,30(6):1724-1726,3.
