An Improved A* Algorithm for Roadless Networks Based on Triangular Mesh

L. Wang, Bo Jiang, Zhe Sun
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引用次数: 0

Abstract

In the path search problem under the roadless environmen such as the wild or remote areas, the existing path planning algorithms still have shortcomings such as slow speed and long planning path; The A* algorithm is efficient and optimal when dealing with node search problems, so it is widely used, but if you want to use the A* algorithm in a roadless environment, you need to divide the environment into a series of square grids or triangular grids. Compared with square grids, triangular grids can better adapt to various terrains and make full use of obstacle data; therefore, this paper proposes an improved A* algorithm based on triangular grids (referred to as TIA* algorithm), hope it can solve the dilemma of the current roadless algorithm. The experimental results show that the TIA* algorithm can realize the path planning under the roadless environmen, and compared with the traditional square grid-based A* algorithm and the RRT algorithm, it can shorten the planning time and the length of path under the premise of ensuring a high success rate.
基于三角网格的无路网络改进A*算法
在野外或偏远地区等无路环境下的路径搜索问题中,现有的路径规划算法仍然存在速度慢、规划路径长等缺点;A*算法在处理节点搜索问题时效率高、最优,因此得到了广泛的应用,但如果要在无路环境中使用A*算法,则需要将环境划分为一系列的正方形网格或三角形网格。与正方形网格相比,三角形网格能更好地适应各种地形,充分利用障碍物数据;因此,本文提出了一种改进的基于三角形网格的A*算法(简称TIA*算法),希望能解决目前无路算法的困境。实验结果表明,TIA*算法可以实现无路环境下的路径规划,与传统的基于方形网格的A*算法和RRT算法相比,可以在保证高成功率的前提下缩短规划时间和路径长度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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