| 摘要: |
| 火星车路径规划是实现火星车完成预定探测任务的关键.然而传统路径规划算法,如A*和D*等,存在计算速度较慢,算法复杂度较高等问题.本文将对传统路径规划方法A*法改进并且得到一种快速高效的全局路径规划算法,之后结合合适的局部避障算法,得到一种基于栅格地图的完整的火星车路径规划方法,最后通过仿真验证了此方法的有效性及合理性. |
| 关键词: 路径规划 PAA* 局部避障 A* |
| DOI：10.15982/j.issn.2095-7777.2014.04.007 |
| 分类号: |
| 基金项目:国家重点基础研究发展计划项目(2012CB720005);国家自然科学基金资助项目(61174201) |
|
| A Path-Planning Method for Mars Rovers based on Grid Map |
|
DONG Yuanyuan, CUI Hutao, TIAN Yang
|
|
Deep Space Exploration Research Center, Harbin Institute of Technology, Harbin 150001, China
|
| Abstract: |
| Path-planning is one of the major parts for Mars to complete exploration missions. With running slowly and higher computing complexity, traditional path-planning algorithms, such as A* and D* algorithms, are no longer in using. In this paper, a fast and efficient global path-planning method is got through improving the conretional A* algorithm. Then combining with local obstacle avoiding method, a complete rover path-planning method based on grid map is obtained. Finally, by using simulation provefs this method is effective and available. |
| Key words: path-planning PAA* local obstacles avoidance A* |
