A novel path planning method based on path network
Shidong Li, Mingyue Ding, Chao Cai · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2009
Traditional path planning methods are too slow to meet the real-time requirement in practical applications. In order to solve this problem, an idea of path net was proposed in this paper. The path planning procedure is divided into two steps: network segment planning and segment assembling. The first step was done with Fast Marching Method, including port selection of segment and network segment planning. Second step, the A* searching method was chosen to select segments for assembling. Experiments demonstrated that our method can obtain an optimal route in a few of seconds after the start and goal are given while several minutes are needed for traditional methods.