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A Pathfinding Algorithm for Large-Scale Complex Terrain Environments in the Field.
- Source :
- ISPRS International Journal of Geo-Information; Jul2024, Vol. 13 Issue 7, p251, 14p
- Publication Year :
- 2024
-
Abstract
- Pathfinding for autonomous vehicles in large-scale complex terrain environments is difficult when aiming to balance efficiency and quality. To solve the problem, this paper proposes Hierarchical Path-Finding A* based on Multi-Scale Rectangle, called RHA*, which achieves efficient pathfinding and high path quality for large-scale unequal-weighted maps. Firstly, the original map grid cells were aggregated into fixed-size clusters. Then, an abstract map was constructed by aggregating equal-weighted clusters into rectangular regions of different sizes and calculating the nodes and edges of the regions in advance. Finally, real-time pathfinding was performed based on the abstract map. The experiment showed that the computation time of real-time pathfinding was reduced by 96.64% compared to A* and 20.38% compared to HPA*. The total cost of the generated path deviated no more than 0.05% compared to A*. The deviation value is reduced by 99.2% compared to HPA*. The generated path can be used for autonomous vehicle traveling in off-road environments. [ABSTRACT FROM AUTHOR]
- Subjects :
- GRIDS (Cartography)
GRID cells
AUTONOMOUS vehicles
OFF-road vehicles
PROBLEM solving
Subjects
Details
- Language :
- English
- ISSN :
- 22209964
- Volume :
- 13
- Issue :
- 7
- Database :
- Complementary Index
- Journal :
- ISPRS International Journal of Geo-Information
- Publication Type :
- Academic Journal
- Accession number :
- 178695858
- Full Text :
- https://doi.org/10.3390/ijgi13070251