The Algorithm for the Dynamic Object based on Field D~* Algorithm and the Method of Path Extraction
Gao Bo · Fire Control and Command Control · 2010
The algorithm of Field D* about path planning could design the smooth and less costly way for the vehicle, but the cost and the time of computation, especially when the target is dynamic, is too large to be acceptable. throughout the research of the theory of Field D*, when object is dynamic, it is brought forward the dynamic planning method which only make some local modification to the designed path from computing the previous target and the new one. This method could reduce the cost of computation phenomenally.After that, the cost of raster is applied to the algorithm of computing the path which works out the effective way in each node based on the different condition of the cost, this method gets the optimal path in the cost finally. Through the simulation based on the digital map with the uniform grids, when compared with the D* algorithm, the results of the dynamic algorithm and the algorithm of computing path can effectively build the smooth path and reduce the cost of path phenomenally, the shortcoming is more costly in time using.