An approach for constructing field tactical roadmap
Wei Zhang, Zheng Li, Wenwei Li, LI Zeng-lu, Xue Jirong · 2008
The paper presents an approach to build a coincident data structure which depicts road and field. Commonly, the road is represented by vector structure while the field is represented by tessellation structure. The path plan object in CGF or C2 should maneuver from road to field. In this paper, a novel method based on original data of GIS is put forward to build obstacle regions. It can effectively generate obstacle boundaries in field environment. Based on the expression of obstacles, the field nodes are produced by deterministic samples in free region, and they are synthesized with road map nodes. Using the collision-free algorithm given in this paper, adjacency nodes are connected by FTR (field tactical roadmap) connectors. FTR is formed, and it can depict the field environment and road efficiently and coincidently.