Path Planning Algorithm Supporting Level Preference of Thermal Map
The thermal map intuitively reflects the spatial distribution pattern of population density,air quality,and other characteristics through color.In practical applications,there is a need to avoid route preferences such as poor air quality or high crowd density in thermal maps.This paper proposes a path planning problem that supports thermal map level preferences,planning a path from the starting point to the end point.The cost of this path does not exceed the given path cost budget,and the length of the road section(named dangerous road section)that satisfies the preference for avoiding thermal map level preferences is minimized.Firstly,a two-stage dangerous grid replacement algorithm is proposed.In the first stage,a shortest path from the starting point to the endpoint is planned,and in the second stage,dangerous grids in the shortest path that do not support thermal map level prefer-ence are replaced.To simplify the path search process,a path query algorithm based on the danger zone avoidance graph is pro-posed,which approximates the danger zone in the thermal diagram into a rectangular structure,generates a danger zone avoidance graph,and performs path queries on the graph.Finally,sufficient testing is conducted on real datasets to verify the effectiveness of the proposed algorithm.
path planningthermal map level preferencepath cost budgetdanger zone
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