Distance map reconstruction and jump point path planning method based on anti-collision radius
A path planning and map reconstruction technology, applied in navigation computing tools and other directions, can solve problems such as robustness and real-time performance that cannot meet requirements, redundant detection, and small proportion of obstacles
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[0049] Figure 6 to Figure 10 Shows a specific embodiment of a distance map reconstruction and jump point path planning method based on collision avoidance radius of the present invention, including
[0050] Step 1: Construct and initialize a distance map DM based on the collision avoidance radius on the two-dimensional plane eight-connected grid path planning map where the planning subject is located. The data structure of the distance map DM includes the eight-connected path planning map. The obstacle position matrix obst and the distance matrix dist of the same dimension of the grid path planning map, the element obst in the obstacle position matrix obst s Stored are the coordinates of grid n where the obstacle closest to grid s is located, and the element dist in the distance matrix dist s What is stored is the Euclidean distance between grid s and grid n where the nearest obstacle is located;
[0051] In this embodiment, the distance map DM can be used to help the planning sub...
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