Open AccessHiking path planning algorithm based on dynamic parameters and heuristic information for complex field comprehensive terrain
Author(s) -
Shuai Wang,
Wingting Su
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1961/1/012038
Subject(s) - heuristics , motion planning , heuristic , path (computing) , computer science , algorithm , terrain , mathematical optimization , any angle path planning , traverse , function (biology) , smoothness , process (computing) , field (mathematics) , fast path , mathematics , artificial intelligence , ecology , geodesy , evolutionary biology , pure mathematics , robot , biology , programming language , geography , operating system , mathematical analysis
The paper focuses on the problem of hiking path planning in complex and comprehensive terrains and establishes a Fast Marching method (DH-FM 2 ) based on heuristic information and dynamic parameters. This method inventively considers the path’s safety, smoothness, and heuristics to meet the needs of dynamic path planning. In data processing, we do a correlation analysis of the elements affecting traversing resistance of the path planning process and filters them to remove relevant features. The algorithm establishes a path evaluation function and optimizes the value of the function by Monte Carlo simulation to determine the coefficients of the TR function. Besides, we consider several types of land cover such as existing roads to fit the actual situation in the field. The result of simulation shows that the DH-FM 2 algorithm can dynamically adjust parameters according to different path planning requirements to generate a path meeting the user’s requirements. The DH-FM 2 algorithm spends shorter time than the FM algorithm on the premise of the same time complexity. Overall, the DH-FM 2 method is reliable and efficient.