Fast Online Path Planning Method Based on Path Network

摘要：

Online path planning is a crucial technology for aircraft flying in dynamic environments, no matter for safety or for precision target tracking. Fast planning algorithm is keystone for online path planning. New online path planning method based on path network combining with A* searching method was proposed in this paper. Fast Marching Method (FMM) is used to construct the path network for static environment, and the path segment can be reused once it was obtained, therefore, the replanning speed improved. Experiment showed that it works efficient for moving target tracking and pop-up obstacle avoidance.

关键词： online path planning path network path segment FMM A * searching method

作者: Shidong Li Mingyue Ding Chao Cai Zhengsheng Zhang

作者单位: Hubei University for Nationalities.Enshi, Hubei, P.R.China Institute for Pattern Recognition and Art Institute for Pattern Recognition and Artificial Intelligence, Huazhong University of Science & Tech

会议类型: 国际会议

会议名称: The 2010 International Conference on Computer Application and System Modeling(2010计算机应用与系统建模国际会议 ICCASM 2010)

会议地点: 太原

会议语种:英文

页码: 224-227

在线出版日期: 2010-10-22（万方平台首次上网日期，不代表论文的发表时间）