Research On Cross-country Path Planning Technology Based On Hexagonal Grid

Path planning is one of the hot topics in the fields of Geographic Information Science and Operations Research,which has important theoretical and practical significances.With the continuous development of science and technology as well as human needs,the path planning under cross-country conditions has become an indispensable part of national defense construction and social development.The application scope is gradually extended from the initial analysis of the military battlefield environment to the path planning of intelligent robot and the field of emergency rescue.However,at present,the research of cross-country path planning can not solve the problem of the shortest path planning for different vehicles.Therefore,based on the analysis of the domestic and international research status and related theories,the path planning problem is studied by using the technical route of ?theoretical research,technical method and experimental verification?.The main contents of this paper are as the following:(1)This paper analyzes the current situation of cross-country path planning from the aspects of theory and application,summarizes the existing problems,and puts forward the purpose and content of this paper;(2)Introduces the basic ideas of cross-country path planning based on hexagonal grid,The purpose and content of this paper are clarified.This paper expounds the advantages of selecting hexagonal grid as the basic grid for terrain analysis and analyzes the classification of terrain elements that affect the cross-country path planning;(3)The construction of cross-country traffic model based on hexagonal grid,put forward the overall design and data structure model design.This paper presents a new method of terrain quantization based on hexagonal grid,which consist of quantization method and attribute information quantization method.For different types of vehicles,determine the impact of each kind of terrain factors under the influence of the hexagonal elements and the level of the hexagonal corners of the barrier type.Based on the above analysis,a multi factor comprehensive analysis rule based on overlay analysis is proposed to determine the traffic conditions of different types of vehicles in the study area.Finally,it realizes the analysis of different types of vehicle traffic analysis,which lays the foundation for the study of the shortest path planning;(4)Based on the analysis of the hexagonal grid for the shortest path planning problem,this paper presents a new method to determine the maneuvering speed based on the analytic hierarchy process;On the basis of the terrain quantitative analysis of the hexagonal grid,a heuristic A* algorithm is proposed to solve the problem of the shortest path planning for different types of vehicles;(5)In this paper,a prototype system for cross-country planning is designed to generate the hexagonal grid data based on the terrain quantitative analysis of the hexagonal grid;On this basis,this paper implement the traffic analysis function of different types and the implementation scheme of the shortest path planning to verify the feasibility and rationality of the key technology of this method.