New path planning method based on regular grid DEM data

Abstract

The present invention discloses a new path planning method based on regular grid DEM data. According to the new path planning method, the distance and the slope are used as the evaluation indexes of the path search; in order to balance the interaction between the distance and the slope, the complete function g(n) of a DA* algorithm is designed based on the distance function of the space path and the slope function constructed with the exponential function; the parameter in the function is calculated with the DEM data, and the new complete function g(n) is optimized so as to be adapted to the change of different resolutions of the DEM data; based on the same strategy and the function construction method, the new heuristic function h(n) of the DA* algorithm is constructed; and in order to improve the search efficiency of the algorithm, by setting the initial weight and dynamically adjusting the weight in the search process, the influence of the complete function and the heuristic function on the evaluation result is changed, such that the new constructed DA* path finding algorithm can efficiently search the appropriate path. According to the preset invention, the new path planning method can self-adapt to the DEM data resolution, and can be used in different application environments.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a new path planning method based on regular grid DEM data in disaster relief. Background technique [0002] Disaster rescue is a social assistance system for the state or society to rescue and assist victims who are in trouble due to various disasters. Designing an optimal rescue path between the rescue point and the disaster-stricken point, so that rescue personnel, rescue vehicles, and rescue equipment can arrive at the disaster-stricken point in the shortest time for rescue is the key to ensuring the success rate of rescue. Rescue vehicles and equipment are usually heavy, and their driving speed will be greatly affected in areas with high slopes, and detours will extend the distance, which delays the speed of rescue. Therefore, how to balance the slope and distance, find an optimal path between the rescue point and the disaster-stricken point, and shorten the rescue arr...

AI Technical Summary

Problems solved by technology

The use of electronic maps has its limitations: (1) Due to the large workload of electronic maps, the map update is slow; (2) The electronic maps are not perfect, and many areas have not been covered; (3) Natural disasters may also destroy the electronic maps. calibrated route; (4) the electronic map only describes the existence of the road, but more detailed information such as slope does not involve

At present, there are few researches on A* pathfinding algorithm based on DEM data.

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