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