Wheelbase-weighted Path Planning Algorithm in Regular Grid Digital Elevation Map
Jialu Xu, Guangya Huang · 2024
In order to deal with the low efficiency of the RRT algorithm in digital elevation model (DEM) path planning, we propose an improved wheelbase-weighted RRT algorithm. This algorithm fully considers the motion wheelbase information of the machine or vehicle, uses the three-dimensional wheelbase as the connection between the starting point and the target, and guides the growth of the tree by weighting the wheelbase of the sampling points as each node expands. Simulation results show that this improved method can comprehensively consider factors such as distance, elevation, and slope when planning paths, improving the feasibility of the path. Compared with traditional methods, the improved algorithm significantly reduces the search time, improves the overall algorithm efficiency, and provides useful exploration for performance optimization in the field of digital elevation model path planning. This research provides a more flexible and intelligent solution to path planning problems in practical applications.