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《JOURNAL OF COMPUTER RESEARCH AND DEVELOPMENT》 1996-07
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DESIGN AND IMPLEMENTATION OF AN OBJECT-ORIENTED CROSS-COUNTRY PATH PLANNING FOR AN AUTONOMOUS LAND VEHICLE

Weng Miaofeng and Pan Jun (East China Shipbuilding institute, Zhenjiang 212003)  
This paper presents the design and implementation of cross-country path planning for an autonomous land vehicle based on a heuristic search method. This path planning consists of two searches by using heuristic evaluation functions. The first is a territory-formula search in territory-formula planning space which is a terrain separating based on inherent distributing quality and property of terrain. This searching path is rough. The second is a grid search in grid planning space for getting the minute sitepath. The best node is the smallest cost one expanded in three directions.
【CateGory Index】: TP242
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