Weighted Time-Based Global Hierarchical Path Planning in Dynamic Environment  

作　　者：邢薇薇 魏翔 卢苇 

机构地区：[1]School of Software Engineering, Beijing Jiaotong University

出　　处：《Transactions of Tianjin University》2014年第3期223-231,共9页天津大学学报（英文版）

基　　金：Supported by the National Natural Science Foundation of China(No.61100143,No.61370128);the Program for New Century Excellent Talents in University of the Ministry of Education of China(NCET-13-0659);Beijing Higher Education Young Elite Teacher Project(YETP0583)

摘　　要：A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid-or graph-based modeling is performed and the environment is divided into a set of grids or nodes. Then two time-based features of time interval and time cost are presented. The time intervals for each grid are built, during each interval the condition of the grid remains stable, and a time cost of passing through the grid is defined and assigned to each interval. Furthermore, the weight is introduced for taking both time and distance into consideration, and thus a sequence of multiscale paths with total time cost can be achieved. Experimental results show that the proposed method can handle the complex dynamic environment, obtain the global time optimal path and has the potential to be applied to the autonomous robot navigation and traffic environment.A weighted time-based global hierarchical path planning method is proposed to obtain the global optimal path from the starting point to the destination with time optimal control. First, the grid- or graph-based modeling is performed and the environment is divided into a set of grids or nodes. Then two time-based features of time interval and time cost are presented. The time intervals for each grid are built, during each interval the condition of the grid remains stable, and a time cost of passing through the grid is defined and assigned to each interval. Furthermore, the weight is introduced for taking both time and distance into consideration, and thus a sequence ofmultiscale paths with total time cost can be achieved. Experimental results show that the proposed method can handle the complex dynamic environment, obtain the global time optimal path and has the potential to be applied to the autonomous robot naviga- tion and traffic environment.

关 键 词：path planning dynamic environment time optimal control time cost 

分 类 号：O221[理学—运筹学与控制论]