融合人工势场法的动态快速行进树路径规划算法.

Addressing the issues of redundant exploration and inapplicability in dynamic environments inherent in fast marching tree algorithm (FMT), this paper proposed the APF-Dynamic FMT algorithm, which integrated artificial potential field method. This algorithm designed a sampling point guidance function based on artificial potential field method, which could dynamically adjust the sampling point generation range according to the environment information to reduce redundant exploration. Additionally, this algorithm designed a dynamic path tree adjustment mechanism, when the existing path was affected by the environment change, it could re-plan a new excellent path on the basis of the remaining path tree that is not affected, which was suitable for solving the path planning problem in dynamic environment. The results verify that the APF-Dynamic FMT algorithm can significantly improve the success rate and path quality of path planning while consuming the same computational resources, and when the existing path is affected by the dynamic environment, it can efficiently re-plan the passable excellent path. [ABSTRACT FROM AUTHOR]