基于大范围通行性图的越野路径规划方法  

Research on Off-road Path Planning Method Based on Large-scale Trafficability Maps

作　　者：唐宁京 周云波[1] 张明[1] 傅耀宇 TANG Ningjing;ZHOU Yunbo;ZHANG Ming;FU Yaoyu(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;Unit 63969 of PLA,Nanjing 211113,China)

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]解放军63969部队,南京211113

出　　处：《火力与指挥控制》2024年第7期7-16,共10页Fire Control & Command Control

基　　金：国家自然科学基金资助项目(51405232)。

摘　　要：针对军事作战、急造军路和野外救援等越野环境下机动车的路径规划问题展开研究,针对大范围的自然地形环境,研究并分析了高程、坡度以及地表属性对于车辆机动性能的影响,并在地理信息系统软件中将多种影响因素进行叠加,将每个栅格进行通行指数赋值,生成通行性图,针对性地提出改进的A*算法,综合考虑通行性图中的通行指数,评估节点的代价函数,从而寻找最佳路径。仿真实验结果表明,此路径规划算法可以有效适应复杂的栅格图,越野路径规划结果合理可行。The path planning problem of motor vehicles in off-road environments such as military operations,hasty roads and field rescue is researched.As for large-scale natural terrain environments,the influence of elevation,slope and surface properties on vehicle mobility is studied and analyzed,and multiple influencing factors in GIS software are superposed,a pass index for each raster is assigned,the trafficability map is generated.and an improved A* algorithm is proposed pertinently to comprehensively consider the passing index in trafficability map and to evaluate the cost function of nodes in order to find the optimal path.The simulation results show that this path planning algorithm can effectively adapt to complex grid map,and the off-road path planning results are reasonable and feasible.

关 键 词：通行性分析 加权叠加 路径规划 A*算法 

分 类 号：E991[军事—军事地形]