Fusion of Improved JPS and A* Algorithms for Tactical Path Planning
Ningning Feng, Gang Yang, Weida Meng, Guodong Hou · 2024
Aiming at the problem that it is difficult to obtain the optimal safe path when the special operations team performs missions in unfamiliar indoor environments, a tactical path planning approach incorporating the improved JPS algorithm and the A* algorithm is proposed. Firstly, the algorithm performance is improved by improving the screening rules of the jump points of the JPS algorithm and deleting the redundant intermediate jump points; secondly, the special warfare threat model is introduced into the heuristic function to avoid the enemy threat in the process of tactical path planning; in addition, considering the characteristics of the influence of environmental complexity on the JPS algorithm, the threshold function of the jump points is designed, and the A* algorithm and the improved JPS algorithm are fused to solve the problem of reduced efficiency caused by searching for too many jump points in a dense environment of the JPS algorithm in the obstacles. Finally, experimental results show that the proposed algorithm reduces the exposed path length by 69.95% in the hazardous area during path planning, while the path planning time is reduced by 8.44%.