Risk Theta*: an Any-Angle Path Planning Algorithm based on Terrain Risk
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.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.