计算机工程与应用2017，Vol.53Issue(18)：17-23,7.DOI:10.3778/j.issn.1002-8331.1706-0195
导航系统中多目标路径平滑化规划的研究
Research on multi-objective path-smoothing planning in navigation system
摘要
Abstract
Path planning are the key tasks in many applications such as vehicles, robotic trips, UAV path recommenda-tions and computer games. Most of the existing path planning algorithms are often simplified as single objective optimiza-tion problems. However, multiple planning objectives which can't transform to each other have to be taken into consider-ation in reality. Based on the known path planning algorithm(D*Lite), this paper proposes a new multi-objective path-smoothing planning algorithm named smoothing multi-objective D*Lite algorithm. This algorithm needs to construct an initial multi-objective smoothing path, when it detects changes of the environment, only the affected nodes are updated and a new multi-objective smoothing path is re-planned from the current node by adopting the incremental search thought. The simulation results show that the proposed algorithm can not only avoid unexpected obstacles with effect, have less inflection point on the planning path and improve searching efficiency, but also can be applied to the navigation system with different non-interactive planning objectives effectively.关键词
多目标优化/导航系统/动态路径规划/增量路径规划/方向性Key words
multi-objective optimization/navigation system/dynamic path planning/incremental path planning/directivity分类
信息技术与安全科学引用本文复制引用
孙梦娜,杨如民,余成波..导航系统中多目标路径平滑化规划的研究[J].计算机工程与应用,2017,53(18):17-23,7.基金项目
国家自然科学基金(No.61402063) （No.61402063）
重庆市科技人才培养计划(新产品研发团队)资助项目(No.CSJC2013KJRC-TD-JS40012) （新产品研发团队）
重庆市高校优秀成果转化资助项目(No.KJZH14213). （No.KJZH14213）
