A Mended Fast Marching Method with Direction Constrained
Shidong Li · 2009
The fast marching method(FMM) has achieved broad application in path planning for it obtains smoother path than traditional searching method,and it does not fall local minimum like other artificial potential field methods.This whole optimal method is strictly influenced by the distribution of obstacle cost,the path is obtained by tracking the distance map with the steepest decent method,so it is lack of controllability.A mended cost model was proposed in this paper,which is realized by adding artificial force field to decompose the cost in Eikonal Equation,and a mended FMM was realized based on the first order Gudunov upwind approximation.The experiment results indicate that the model is able to improve the controllability of path planning,and can be used to solve the problem that the path needs to pass special place with special direction.