A path planning method for amphibious unmanned combat vehicles considering the influence of terrain and terrain

Abstract

The invention provides a path planning method for an amphibious unmanned combat vehicle considering the influence of terrain and terrain, and belongs to the field of mechanical automation. First, the battlefield environment is discretized into a two-dimensional grid. Second, according to the battlefield environment, establish the corresponding obstacle matrix, terrain matrix and terrain matrix. Thirdly, the evaluation function in the traditional A* algorithm is improved by using the terrain matrix and the terrain matrix. Fourth, according to the improved evaluation function, the A* algorithm is used to generate the optimal path. Fifth, evaluate the quality of the generated path. The invention comprehensively utilizes the obstacles, terrain and terrain information of the battlefield environment, and can realize the rapid planning of the high-quality motion path of the amphibious unmanned combat vehicle, and the generated path has the advantages of short equivalent path and low cumulative gradient; the invention has certain advantages. The practicality of the method can provide a new solution for the path planning problem of amphibious unmanned combat vehicles.

Description

technical field [0001] The invention belongs to the field of mechanical automation, and relates to a path planning method for an amphibious unmanned combat vehicle considering the influence of terrain and terrain. Background technique [0002] The unmanned combat vehicle has good flexibility, maneuverability and environmental adaptability, and the fire strike module of the mission load has outstanding features such as diverse configurations and fast response. Due to its ability to provide mission personnel with much-needed on-site perception capabilities and diversified breakthrough methods, it has received increasing attention and application in recent years. In order to achieve the efficient execution of the task, the unmanned combat vehicle needs to formulate the optimal travel route in advance before dispatching, while avoiding natural or man-made obstacles in the operating environment (such as insurmountable ravines, areas with strong enemy vitality, etc.) , quickly re...

AI Technical Summary

Problems solved by technology

[0003] Ground unmanned equipment path planning algorithms are mostly solved in a two-dimensional framework (such as A*, RRT, artificial potential field, etc.), the data volume and complexity are lower than the real map, and the influence of the actual terrain cannot be considered

The operating environment of the amphibious unmanned combat vehicle is very complex, and its movement speed on different terrains has significant differences.

Images