摘要
广泛应用于路径规划问题的D*Lite存在运行速度慢、容易斜穿障碍物边界节点且只能执行单次动态路径重构等问题。基于此,引入人工势场(Artificial Potential Field,APF)引力场的思想,提出了一种在既定路线上持续产生突变障碍的连续动态路径规划D*Lite改进算法(Continuous D*Lite,CD*Lite)。对原始切比雪夫代价估计算子进行改进,优化路线斜走与非斜走实际代价。引入引力算子,提出一种全域代价估计算子改进键值算子。对规避障碍物提出一种方向禁忌矩阵,避免斜穿危险节点。基于冗余点删除机制规划路线进行优化,生成较为光滑的折线。实验结果表明,CD*Lite基于多规模栅格地图均成功预规划路线,且运行时间相较实验对比算法减少约35%,在连续动态规划模式中相较实验对比算法减少约60%。
D*Lite,which is widely used in path planning,has some problems,such as slow running speed,tending to cross obstacle boundary nodes,and being able to only perform a single dynamic path reconstruction.Based on this,an idea of Artificial Potential Field(APF)gravitational field is introduced,and a dynamic path planning Continuous D*Lite(CD*Lite)improved algorithm that continuously produces abrupt obstacles on a given route is proposed.The original Chebyshev cost estimation operator is improved to optimize actual cost of oblique and non-oblique routes.By introducing the gravitational operator,a global cost estimation operator is proposed to improve the key value operator.A directional taboo matrix is proposed to avoid diagonally passing through dangerous nodes.Finally,based on the redundant point deletion machine value,the planning route is optimized to generate a smoother broken line.Experimental results show that CD*Lite successfully pre-plans routes based on multi-scale grid maps,and the running time is reduced by about 35%compared with other algorithms,and about 60%compared with other algorithms in continuous dynamic planning mode.
作者
傅亮
刘峰
刘书勇
韩新宇
FU Liang;LIU Feng;LIU Shuyong;HAN Xinyu(Civil Aircraft Avionics Department,Chinese Aeronautical Radio Electronics Research Institute,Shanghai 200241,China;College of Computer Science and Technology,Harbin Engineering University,Harbin 150001,China)
出处
《无线电通信技术》
2023年第6期1042-1051,共10页
Radio Communications Technology
基金
黑龙江省自然科学基金(JJ2019LH2160)
国防基础科研项目(JCKY2021604B002)~~。
关键词
D*Lite
路径规划
人工势场
栅格法
连续动态规划
D*Lite
route plan
artificial potential field
gird-based method
continuous dynamic programming
