Research of cross-country path planning based on improved A~* algorithm
Wei Liao · Jisuanji yingyong yanjiu · 2013
According to the vehicle's cross-country path planning problem,this paper researched and analyzed the synthesis influence of the terrain slope and attribute of the earth's surface for path planning.With the introduction of window moving method to beforehand judgment and capacity analysis about terrain slope,it established the rating index of roughness about wheeled vehicles and crawler vehicles,and rasterized attributes of the earth's surface with the area dominant method.It stacked constraint effect of slope and roughness in order to reduce the search scope and improved the search efficiency through tabu table.It structured the evaluation function of improved A* algorithm,and connecting with the expand table,open table,closed table and path table,designed path optimization algorithm with the consideration of slope and roughness constraint.The simulation results show that the algorithm can effectively realize cross-country path planning according with real terrain environment.