Research on Lazy Theta* Route Planning Algorithm Based on Grid Point Optimization
In recent years, the problem of route planning in complex battlefield environments has attracted significant attention. With the increasingly worrying international situation, safety and flyability in a continuously changing threat environment are critical factors in route planning research. Thus, t...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-10-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/12/20/10601 |
| _version_ | 1797475453429088256 |
|---|---|
| author | Zhizhou Gao Lujun Wan Ming Cai Xinyu Xu |
| author_facet | Zhizhou Gao Lujun Wan Ming Cai Xinyu Xu |
| author_sort | Zhizhou Gao |
| collection | DOAJ |
| description | In recent years, the problem of route planning in complex battlefield environments has attracted significant attention. With the increasingly worrying international situation, safety and flyability in a continuously changing threat environment are critical factors in route planning research. Thus, this paper proposes an improved Lazy Theta* algorithm that adapts to a complex battlefield environment and finds the optimal route. Specifically, given the low computational efficiency and data redundancy of the existing environmental threat modeling, the developed scheme first employs an octree grid to divide the environment into a grid. Furthermore, based on a real environmental threat model and flight constraints, we design a Lazy Theta* algorithm based on octree grid points, which shortens the planning path and reduces the path cost. Finally, this paper proposes an equally spaced B-spline to smooth the route and improve its smoothness and flyability. Several simulated experiments verify that the smoothed route improves safety and flight ability while reducing the route’s distance. Overall, the simulation results prove that the proposed method significantly improves the planning efficiency and flyability compared with traditional methods. |
| first_indexed | 2024-03-09T20:45:20Z |
| format | Article |
| id | doaj.art-0a50fa1ab9734111bf76df02dcb74431 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T20:45:20Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-0a50fa1ab9734111bf76df02dcb744312023-11-23T22:47:16ZengMDPI AGApplied Sciences2076-34172022-10-0112201060110.3390/app122010601Research on Lazy Theta* Route Planning Algorithm Based on Grid Point OptimizationZhizhou Gao0Lujun Wan1Ming Cai2Xinyu Xu3Air Traffic Control and Navigation College, Air Force Engineering University, Xi’an 710051, ChinaAir Traffic Control and Navigation College, Air Force Engineering University, Xi’an 710051, ChinaAir Traffic Control and Navigation College, Air Force Engineering University, Xi’an 710051, ChinaAir Traffic Control and Navigation College, Air Force Engineering University, Xi’an 710051, ChinaIn recent years, the problem of route planning in complex battlefield environments has attracted significant attention. With the increasingly worrying international situation, safety and flyability in a continuously changing threat environment are critical factors in route planning research. Thus, this paper proposes an improved Lazy Theta* algorithm that adapts to a complex battlefield environment and finds the optimal route. Specifically, given the low computational efficiency and data redundancy of the existing environmental threat modeling, the developed scheme first employs an octree grid to divide the environment into a grid. Furthermore, based on a real environmental threat model and flight constraints, we design a Lazy Theta* algorithm based on octree grid points, which shortens the planning path and reduces the path cost. Finally, this paper proposes an equally spaced B-spline to smooth the route and improve its smoothness and flyability. Several simulated experiments verify that the smoothed route improves safety and flight ability while reducing the route’s distance. Overall, the simulation results prove that the proposed method significantly improves the planning efficiency and flyability compared with traditional methods.https://www.mdpi.com/2076-3417/12/20/10601octree gridstatic threatsroute planninggrid pointLazy Theta*B-spline |
| spellingShingle | Zhizhou Gao Lujun Wan Ming Cai Xinyu Xu Research on Lazy Theta* Route Planning Algorithm Based on Grid Point Optimization Applied Sciences octree grid static threats route planning grid point Lazy Theta* B-spline |
| title | Research on Lazy Theta* Route Planning Algorithm Based on Grid Point Optimization |
| title_full | Research on Lazy Theta* Route Planning Algorithm Based on Grid Point Optimization |
| title_fullStr | Research on Lazy Theta* Route Planning Algorithm Based on Grid Point Optimization |
| title_full_unstemmed | Research on Lazy Theta* Route Planning Algorithm Based on Grid Point Optimization |
| title_short | Research on Lazy Theta* Route Planning Algorithm Based on Grid Point Optimization |
| title_sort | research on lazy theta route planning algorithm based on grid point optimization |
| topic | octree grid static threats route planning grid point Lazy Theta* B-spline |
| url | https://www.mdpi.com/2076-3417/12/20/10601 |
| work_keys_str_mv | AT zhizhougao researchonlazythetarouteplanningalgorithmbasedongridpointoptimization AT lujunwan researchonlazythetarouteplanningalgorithmbasedongridpointoptimization AT mingcai researchonlazythetarouteplanningalgorithmbasedongridpointoptimization AT xinyuxu researchonlazythetarouteplanningalgorithmbasedongridpointoptimization |