| Risk Theta*:一种基于地形危险度的任意航向路径规划算法 |
| |
| 作者姓名： | 王琼 于登云 贾阳 |
| |
| 作者单位： | 探月与航天工程中心, 北京 100037;北京空间飞行器总体设计部, 北京 100094,中国航天科技集团公司, 北京 100048,北京空间飞行器总体设计部, 北京 100094 |
| |
| 基金项目： | 国家中长期科技发展规划重大专项资助项目 |
| |
| 摘 要： | 提出了一种基于地形危险度的任意航向路径规划算法——Risk Theta*。首先以星球表面地形特征统计分析为基础提出了地形危险度指标,并建立地形危险度地图。在此基础上应用Basic Theta*搜索,以危险度最低为方向搜索最优路径。仿真实验证明,该算法能够在栅格地图上找到比A*和Basic Theta*算法危险度低得多、长度相当的任意航向路径,既显著提高了巡视器的安全性,又满足了星球巡视探测对任意航向行驶的迫切需求,因此具有较强的实用性。
|
| 关 键 词： | Theta* 地形危险度 路径规划 任意航向 启发式搜索 |
| 收稿时间： | 2014/10/1 0:00:00 |
| 修稿时间： | 2014/11/30 0:00:00 |
Risk Theta*: an Any-Angle Path Planning Algorithm based on Terrain Risk |
| |
| Authors: | WANG Qiong YU Dengyun and JIA Yang |
| |
| Institution: | Lunar Exploration and Space Engineering Center, Beijing 100037, China;Beijing Institute of Spacecraft System Engineering, Beijing 100094, China,China Aerospace Science and Technology Corporation, Beijing 100048, China and Beijing Institute of Spacecraft System Engineering, Beijing 100094, China |
| |
| Abstract: | Risk Theta*: an any-angle path planning algorithm based on terrain risk is proposed in this paper. At first, based on statistical analysis on terrain feature of planetary surface, terrain risk index is proposed and the index map is built. Basic Theta* search is conducted on this index map to seek optimal path of lowest terrain risk. Simulation experiments show that the proposed algorithm could find out any-angle path of much lower terrain risk and comparable path length on grid map than A* and Basic Theta* which can significantly improve the rover safety, as well as satisfy the urgent demand of any-angle travel of planetary roving exploration, therefore it is fairly practical. |
| |
| Keywords: | Theta* terrain risk path planning any-angle heuristic search |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《》浏览原始摘要信息 |
| 点击此处可从《》下载免费的PDF全文 |
|
