集成技术2024，Vol.13Issue(2)：52-63,12.DOI:10.12146/j.issn.2095-3135.20230717001
面向未知环境探索的分层架构路径规划算法
Hierarchical Path Planning Algorithm for Exploring Unknown Environments
摘要
Abstract
To realize efficient path exploration of unmanned platforms in unknown environments,a path planning algorithm based on a hierarchical architecture of"perception planning control"is studied in this work.Real-time construction of two-dimensional grid maps of unknown environments using the Cartographer mapping algorithm at the perception layer.At the planning level,the optimal exploration target point is selected by Canny edge detection,density-based clustering algorithm,and performance function evaluation.Specifically,the concept of continuity of exploration direction is introduced into the efficiency function of planning,overcoming the drawbacks of traditional path planning that repeatedly explores known environments.At the control layer,the shortest path from the current pose to the target point is planned using probability roadmap algorithm,and collision-free tracking of the path is achieved through pure tracking algorithm and vector histogram algorithm.The effectiveness of the algorithm was verified through simulation in three typical environments,and the results showed that the proposed algorithm can achieve higher exploration efficiency and completeness in different environments.关键词
路径规划/无人平台/分层架构/未知环境探索Key words
path planning/unmanned platform/hierarchical architecture/unknown environment exploration分类
信息技术与安全科学引用本文复制引用
樊杰,张旭东,耿江波,常云斐,邹渊..面向未知环境探索的分层架构路径规划算法[J].集成技术,2024,13(2):52-63,12.基金项目
北京市自然科学基金项目(3212013) （3212013）
中国汽车工程学会青年人才托举项目(YESS20200301) （YESS20200301）
北京市科协金桥工程种子资金 This work is supported by Natural Science Foundation of Beijing(3212013),Young Elite Scientists Sponsorship Program by CAST(YESS20200301)and Beijing JinQiao Project （3212013）
