Original scientific paper

https://doi.org/10.7305/automatika.2016.10.1126

Improved Path Planning Algorithm on the Rugged Road

Dianhua Zhang ; School of Computer Engineering and Science, Shanghai University, Shanghai, China
Yimin Chen ; School of Computer Engineering and Science, Shanghai University, Shanghai, China
Chen Huang ; School of Computer Engineering and Science, Shanghai University, Shanghai, China
Mingke Gao ; School of Computer Engineering and Science, Shanghai University, Shanghai, China

Abstract

The path planning problem is an important problem in the research area of robot, games and group animation. This paper shows a 2.5-dimensional terrain grid which can reduce the amount of computation. By applying the fuzzy logic theory, the terrain trafficability of the rugged road can be evaluated based on different gradient, roughness, elevation difference; the trafficability factor can be achieved and applied to the heuristic function. The improved algorithm can solve the symmetry problem of path planning on uneven surfaces, reduce the search space.

Keywords

path planning; fuzzy logic; trafficability factor

Hrčak ID:

179444

URI

https://hrcak.srce.hr/179444

Publication date:

25.1.2017.

Article data in other languages: croatian

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