基于启发式映射法的未知三维环境路径规划
PATH PLANNING OF UNKNOWN THREE-DIMENSIONAL ENVIRONMENT BASED ON HEURISTIC MAPPING METHOD
徐啟蕾 1任文杰 1庞衍硕 1张嘉琪1
作者信息
- 1. 青岛科技大学自动化与电子工程学院 山东青岛 266061
- 折叠
摘要
针对全局环境的未知性和常用规划算法易得到局部最优解的特性,提出一种基于启发式映射法的未知三维环境路径规划算法.在分段规划的策略下,使用启发式映射法来获取分段的子目标,克服了常规直线映射法在一定情况下难以确定目标的缺陷,结合三维环境下的A*算法完成了移动智能体的规划任务.通过MATLAB进行仿真,与直线映射法相比,得到了更短的路径长度,且运行时间更短,可以较好地解决未知三维环境的路径规划问题.
Abstract
Aimed at the unknown global environment and the fact that the local optimal solution can be easily obtained from the common programming algorithm,an unknown three-dimensional environment path planning algorithm based on heuristic mapping method is proposed.Under the section planning strategy,the heuristic mapping method was used for acquiring the piecewise sub-targets,which overcame the defect that the conventional linear mapping method was difficult to determine the targets under certain circumstances.The planning task of the mobile agent was completed by combining A*algorithm in the three-dimensional environment.MATLAB was used for simulation.The result of the proposed algorithm is shorter in path length and less in running time compared with the result of the linear mapping method,showing that the proposed algorithm can better solve the path planning problem in unknown three-dimensional environment.
关键词
未知三维环境/启发式映射法/A*算法Key words
Unknown three-dimensional environment/Heuristic mapping method/A*algorithm引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据