| 面向对象的自主车越野路径规划的设计和实现 |
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| 引用本文： | 翁妙凤,潘峻.面向对象的自主车越野路径规划的设计和实现[J].计算机研究与发展,1996,33(7):533-540. |
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| 作者姓名： | 翁妙凤 潘峻 |
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| 作者单位： | 华东船舶工业学院 |
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| 摘 要： | 本文介绍了一种使用启发式估值函数进行二次搜索的路径规划方法，设计和实现了自主车的越野路径规划。首先是在领域式规划空间上进行领域式搜索，由于该空间是一种面向地形本身分布特点和性质的地质分割，解路径的粒度较粗，因此又进行了在栅格规划空间上的第二次搜索－栅格搜索，以对解路径进行细化，最佳结点只在三个方向上扩展，并取代价最小者。
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| 关 键 词： | 路径规划 栅格搜索 面向对象 机器人 自主机器人 |
DESIGN AND IMPLEMENTATION OF AN OBJECT-ORIENTED CROSS-COUNTRY PATH PLANNING FOR AN AUTONOMOUS LAND VEHICLE |
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| Weng Miaofeng and Pan Jun.DESIGN AND IMPLEMENTATION OF AN OBJECT-ORIENTED CROSS-COUNTRY PATH PLANNING FOR AN AUTONOMOUS LAND VEHICLE[J].Journal of Computer Research and Development,1996,33(7):533-540. |
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| Authors: | Weng Miaofeng and Pan Jun |
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| Abstract: | This paper presents the design and implementation of cross-country path planning for an autonomous land vehicle based on a heuristic search method. This path planning consists of two searches by using heuristic evaluation functions. The first is a territory-formula search in territory-formula planning space which is a terrain separating based on inherent distributing quality and property of terrain. This searching path is rough. The second is a grid search in grid planning space for getting the minute sitepath. The best node is the smallest cost one expanded in three directions. |
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| Keywords: | Object-oriented programming path planning territory-formula search grid search |
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