Path Planning Algorithm Based on RRT-A* in 3D Terrain
Hongtao Yin, Lixin Zhang · 2023
Efficient and safe global path planning for vehicles is a key issue in the field of navigation. However, in large-scale maps, traditional A*algorithms have the problem of long search times, which seriously affects planning efficiency. This article proposes a global planning algorithm called RRT-A*based on large-scale maps, considering multiple path costs, and designing dynamic step size adjustment. The results show that the algorithm proposed in this article has much shorter planning time than A*, the time consumption is close to RRT and has lower path cost than RRT algorithms. Therefore, it can greatly improve the efficiency of path planning in large-scale maps.