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