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汽车安全与节能学报

汽车安全与节能学报 ›› 2024, Vol. 15 ›› Issue (2): 253-260.DOI: 10.3969/j.issn.1674-8484.2024.02.014

• 智能驾驶与智慧交通 • 上一篇    下一篇

基于图搜索的陆空两栖平台3D路径规划算法

孟庆京1,2(), 司俊德1(), 张新钰2,*(), 孙弘麟2, 王小宇2, 荣松松2   

  1. 1.河南工业大学 机电工程学院，郑州 45000，中国
    2.清华大学，智能绿色车辆与交通全国重点实验室，北京 100080，中国
  • 收稿日期:2023-10-27 修回日期:2023-12-04 出版日期:2024-04-30 发布日期:2024-04-27
  • 通讯作者: * 张新钰，高工。E-mail：xyzhang@tsinghua.edu.cn。
  • 作者简介:孟庆京（1998—），男（汉），河南，硕士研究生。E-mail：1924209734@qq.com。
    司俊德（1982—），男（汉），河南，副教授。E-mail：sijunde@haut.edu.cn。
  • 基金资助:
    国家自然科学基金资助项目(62273198)

3D path planning algorithm for ground and air amphibious platform based on graph search

MENG Qingjing1,2(), SI Junde1(), ZHANG Xinyu2,*(), SUN Honglin2, WANG Xiaoyu2, RONG Songsong2   

  1. 1. Henan University of Technology, Zhengzhou 45000, China
    2. State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing 100084, China
  • Received:2023-10-27 Revised:2023-12-04 Online:2024-04-30 Published:2024-04-27

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摘要：

为了解决陆空两栖平台路径规划能效与寻径效率问题，提出了一种基于图搜索算法的全局路径规划算法。考虑了空中飞行能耗与地面行驶能耗模型的不同，结合起飞阈值、地面移动成本系数、空中移动成本系数等参数决定模态切换机制，在遇到难以越过的障碍时使用逃脱算法脱困，当允许地面通过时优先采用地面行驶的方式到达目标点以提升寻径效率与能效。为验证该算法，分别建立了针对陆空2种模式下的能耗模型，在现有交通规则约束下完成城市场景和虚拟迷宫测试。结果表明：本算法的搜索效率相较于对照组算法提升了30%以上，有效提升搜寻效率的同时降低了能量消耗。

关键词: 陆空两栖平台, 跨模态路径规划, 图搜索算法, 模态切换策略

Abstract:

A global path planning algorithm based on graph search algorithm was proposed to solve the problem of path planning efficiency and path finding efficiency for land and air integrated flying platform. Considering the difference between the energy consumption model of air flight and the energy consumption model of ground travel, the mode switching mechanism was determined by combining the take-off threshold, ground movement cost coefficient, air movement cost coefficient and other parameters. When the obstacle was difficult to overcome, the escape algorithm was used to escape, and when the ground was allowed to pass, the way of ground travel was preferentially adopted to reach the target point to improve the pathfinding efficiency and energy efficiency. The algorithm, energy consumption models for land and air modes were established to verify the algorithm, respectively, and city scenes and virtual maze tests were completed under the constraints of existing traffic rules. The results show that the search efficiency of the proposed algorithm is more than 30% higher than that of the control algorithm, which can effectively improve the search efficiency and reduce the energy consumption.

Key words: ground and aerial amphibious platform, cross-modal path planning, graph search algorithm, mode switching policy

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