考虑非地形流体特征的三维地形高可靠性路径规划研究  

Research on High-Reliability Path Planning for Three-Dimensional Terrain Considering Non-Terrain Fluid Characteristics

作　　者：何智成 朱勇杰 邱雨 刘越[2] 周恩临 郑皓[3] He Zhicheng;Zhu Yongjie;Qiu Yu;Liu Yue;Zhou Enlin;Zheng Hao(College of Mechanical and Vehicle Engineering,Hunan University,Changsha410000;China North Vehicle Research Institute,Beijing100072;Changsha Research Institute of Mining and Metallurgy Co.,Ltd.,Changsha410000)

机构地区：[1]湖南大学机械与运载工程学院,长沙410000 [2]中国北方车辆研究所,北京100072 [3]长沙矿冶研究院有限责任公司,长沙410000

出　　处：《汽车工程》2025年第4期680-691,共12页Automotive Engineering

基　　金：广西科技计划项目(AA22068108,AA23062088,AA23062056)资助。

摘　　要：三维地形场景通常具有复杂多变的环境和崎岖的地形特征,给路径规划带来挑战。针对这一问题,本文提出了一种非地形流体特征和三维复杂地形共同影响下的高可靠性路径规划方法。本方法包括三维地形下的初始全局路径规划、路径检验及重规划,针对初始全局路径,提出融合Hybrid A*和Theta*优势方法的AHTR算法,该算法针对三维地形场景特点改进了节点间采样和检测方法,并引入地形风险评估函数,为载具规划出能够规避崎岖起伏地形并且符合运动学约束的路径。针对路径检验,基于考虑非地性流体特征的载具动力学分析结果设计了路径风险检验函数,并验证了非地形流体特征对路径规划的影响。针对路径重规划,提出改进AHTR算法,该方法同时考虑了三维地形特征和非地形流体特征,确保所规划的路径能够有效规避风险。仿真实验表明,相比于Hybrid A*和Theta*,AHTR算法规划路径的地表起伏剧烈程度分别降低26.54%和49.04%,载具平均俯仰角幅度降低44.39%和69.40%,路径风险降低26.32%和41.67%,最终路径安全性提升58.06%和88.46%,有效保证了路径的可靠性。Three-dimensional terrain scenes typically possess complex and diverse environment along with jagged terrain features,which poses challenges to path planning.To address this issue,in this paper a highly reliable path planning approach under the influence of non-topographic fluid characteristics and three-dimensional complex terrain is proposed.This method encompasses initial global path planning,path inspection,and re-planning under 3D terrain.For the initial global path,an AHTR algorithm that combines the advantages of Hybrid A*and Theta*is proposed.This algorithm enhances the inter-node sampling and detection methods in accordance with the traits of the 3D terrain scene and introduces in a terrain risk assessment function.to plan a path for the vehicle that can evade rough terrain and comply with kinematic constraints.For path inspection,the path risk test function is designed based on the results of vehicle dynamics analysis considering the characteristics of non-terrestrial fluid,and the impact of non-terrestrial fluid characteristics on path planning is verified.For path re-planning,an enhanced AHTR algorithm is proposed,which takes into account of both 3D terrain features and non-terrain fluid features to guarantee that the planned path can effectively avoid risks.Simulation experiments demonstrate that compared with Hybrid A*and Theta*,the intensity of ground undulation in the path planned by the AHTR algorithm is decreased by 26.54%and 49.04%,with the average pitch angle of the vehicle reduced by 44.39%and 69.40%,the path risk lowered by 26.32%and 41.67%,and the final path safety improved by 58.06%and 88.46%,which effectively ensures path reliability.

关 键 词：三维地形 非地形流体 路径风险 全局路径规划 局部路径重规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]