用于野外大规模复杂地形环境的寻路算法

IF 2.8 3区 地球科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS
Luchao Kui, Xianwen Yu
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引用次数: 0

摘要

自动驾驶车辆在大规模复杂地形环境中寻路时,很难兼顾效率和质量。为了解决这个问题,本文提出了基于多尺度矩形的分层寻路 A*,即 RHA*,它可以实现大规模不等权地图的高效寻路和高路径质量。首先,将原始地图网格单元聚合成固定大小的簇。然后,通过将等权簇聚合成不同大小的矩形区域,并预先计算区域的节点和边,构建抽象地图。最后,根据抽象地图进行实时寻路。实验表明,实时寻路的计算时间比 A* 减少了 96.64%,比 HPA* 减少了 20.38%。与 A* 相比,生成路径的总成本偏差不超过 0.05%。与 HPA* 相比,偏差值减少了 99.2%。生成的路径可用于自动驾驶汽车在越野环境中行驶。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Pathfinding Algorithm for Large-Scale Complex Terrain Environments in the Field
Pathfinding for autonomous vehicles in large-scale complex terrain environments is difficult when aiming to balance efficiency and quality. To solve the problem, this paper proposes Hierarchical Path-Finding A* based on Multi-Scale Rectangle, called RHA*, which achieves efficient pathfinding and high path quality for large-scale unequal-weighted maps. Firstly, the original map grid cells were aggregated into fixed-size clusters. Then, an abstract map was constructed by aggregating equal-weighted clusters into rectangular regions of different sizes and calculating the nodes and edges of the regions in advance. Finally, real-time pathfinding was performed based on the abstract map. The experiment showed that the computation time of real-time pathfinding was reduced by 96.64% compared to A* and 20.38% compared to HPA*. The total cost of the generated path deviated no more than 0.05% compared to A*. The deviation value is reduced by 99.2% compared to HPA*. The generated path can be used for autonomous vehicle traveling in off-road environments.
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来源期刊
ISPRS International Journal of Geo-Information
ISPRS International Journal of Geo-Information GEOGRAPHY, PHYSICALREMOTE SENSING&nb-REMOTE SENSING
CiteScore
6.90
自引率
11.80%
发文量
520
审稿时长
19.87 days
期刊介绍: ISPRS International Journal of Geo-Information (ISSN 2220-9964) provides an advanced forum for the science and technology of geographic information. ISPRS International Journal of Geo-Information publishes regular research papers, reviews and communications. Our aim is to encourage scientists to publish their experimental and theoretical results in as much detail as possible. There is no restriction on the length of the papers. The full experimental details must be provided so that the results can be reproduced. The 2018 IJGI Outstanding Reviewer Award has been launched! This award acknowledge those who have generously dedicated their time to review manuscripts submitted to IJGI. See full details at http://www.mdpi.com/journal/ijgi/awards.
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