Constraint Route Planning Model and Its Implementation by FMM
Ding Ming-yue · Jisuanji fangzhen · 2011
Fast Marching Method is the technology based on Level Set which is used to track the evolving interface.It has been used to solve the problem about shortest route planning between two points;the obtained route is smoother than the one obtained by traditional searching method based on grids if the information about static environment is known.But the traditional FMM has weak control for route direction,and it is powerless for regulating curvature of route.A cost model was proposed to mend FMM,which was realized by adding artificial force field to adjust the cost function in Eikonal Equation.An Euler-Lagrange Equation was obtained using variation method to analyze the potential function corresponding to the route gained by time distance function with steepest descent method,and some strategies were proposed for adjusting the cost parameter to meet with the curvature constraint.The experiment results show that the model and the adjusting strategies work well when the direction and curvature of route need to be satisfied.The model can be used to plan the route for robots or unmanned aerial vehicles.