环境地图的格栅化及路径规划研究  

Research on gridding and path planning of environmental map

作　　者：刘正锋[1] 张隆辉[1] 魏纳新[1] 匡晓峰[1] LIU Zheng-feng;ZHANG Long-hui;WEI Na-xin;KUANG Xiao-feng(National Key Laboratory of Science and Technology on Hydrodynamics,China Ship Scientific Research Center,Wuxi 214082,China)

机构地区：[1]中国船舶科学研究中心水动力学重点实验室,江苏无锡214082

出　　处：《舰船科学技术》2021年第7期141-145,共5页Ship Science and Technology

基　　金：江苏省绿色船舶重点实验室基金课题。

摘　　要：电子海图中的海洋环境地理信息通常由复杂几何图形构成,在路径规划时需要建模处理,格栅化是最常用的处理方法。本文针对实际环境中的路径规划问题,分析环境地图格栅化对路径规划的影响,并介绍A^(*)算法在栅格地图路径规划中的应用。以某海域环境为例,对不同尺度下的栅格地图进行路径规划对比分析。研究表明,环境地图的格栅化会显著提高路径规划的效率,但是过大的网格尺度会破坏规划空间的连通性。合理地调节障碍物边界处的等效网格设置,可以保证路径规划空间的连通性,在提高路径规划效率和成功率的同时,并不会影响规划路径的最终结果。The geographic information of marine environment in the electronic chart is usually composed of complex geometries, which needs to be modeled in path planning. Map gridding is the most commonly used pre-processing method.Aiming at path planning problem in the actual environment, the influence of map gridding on path planning is analyzed in this paper. And the realization of A-star algorithm in grid map path planning is introduced. Finally, taking port environmental as an example, a comparative analysis of path planning of grid map in different scales is discussed. The results show that gridding process of environment map can significantly improve the efficiency of path planning, but large grid scale will weaken the connectivity of planning space. Reasonably adjusting the equivalent grid setting at boundaries of obstacles can ensure the connectivity of the path planning space, while improving the efficiency and effectiveness of path planning, and will have little impact on the results of path planning.

关 键 词：路径规划 栅格地图 地图格栅化 A^(*)算法 

分 类 号：U675.81[交通运输工程—船舶及航道工程]