A NEW METHOD OF CROSS-COUNTRY PATH PLANNING FOR AN AUTONOMOUS LAND VEHICLE TERRITORY-FORMULA BASED PATH PLANNING METHOD
Chang Wensheng · Robot · 1993
This paper presents a new way to solve cross-country path planning problems for an autonomous land vehi-cle territory-formula based path planning methnod.Based on inherent distributing quality and property of ter-rain,a terrain separating method is introduced and a binary-tree representation of territory-formula planningspace is discussed.On this basis,using a fabricated matrix to match and search binary-tree,we propose theway to define adjacent relation in territory-formula planning space,and describe a path searching algorithmwhich combines a heuristic search method with a probable search method.Territory-formula based path plan-ning method make it very effective to solve path planning problem in unconstructed environment.