Improved Path Planning Algorithm on the Rugged Road.

The path planning problem is an important problem in the research area of robot, games and group animation. This paper shows a 2.5-dimensional terrain grid which can reduce the amount of computation. By applying the fuzzy logic theory, the terrain trafficability of the rugged road can be evaluated based on different gradient, roughness, elevation difference; the trafficability factor can be achieved and applied to the heuristic function. The improved algorithm can solve the symmetry problem of path planning on uneven surfaces, reduce the search space. [ABSTRACT FROM AUTHOR]

Problem planiranja putanje je važan problem u istraživaˇckom podruˇcju robotike, igara i grupne animacije. U ovom radu teren je predstavljen 2.5-dimenzionalnom mrežom što može smanjiti vrijeme raˇcunanja. Korištenjem teorije neizrazite logike prohodnost neravne ceste može se procijeniti na osnovu razlike gradijenata, nagiba i grbavosti, te se može odrediti faktor prohodnosti koji je primjenjiv na heuristiˇcku funkciju. Unapriježeni algoritam može riješiti problem simetrije kod planiranja putanje na neravnim površinama i smanjiti prostor pretraživanja. [ABSTRACT FROM AUTHOR]

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