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提出了一种基于地形危险度的任意航向路径规划算法——Risk Theta*。首先以星球表面地形特征统计分析为基础提出了地形危险度指标,并建立地形危险度地图。在此基础上应用Basic Theta*搜索,以危险度最低为方向搜索最优路径。仿真实验证明,该算法能够在栅格地图上找到比A*和Basic Theta*算法危险度低得多、长度相当的任意航向路径,既显著提高了巡视器的安全性,又满足了星球巡视探测对任意航向行驶的迫切需求,因此具有较强的实用性。
An algorithm of random heading path planning based on terrain risk is proposed --isk Theta *. Firstly, based on the statistical analysis of terrain features on the surface of the planet, the terrain risk index and the terrain risk map are established. Based on this, Basic Theta * search is applied to find the optimal path with the lowest risk. Simulation results show that this algorithm can find any heading path with much lower risk and equal length than the A * and Basic Theta * algorithms on the raster map, which not only improves the security of the inspector but also meets the requirements of the world round rover The urgent demand for any course driving, so has strong practicality.