关键词: 三维地形, 路径规划, 几何投影, 视野范围, 遗传算法

Abstract:

For 3D terrain path planning, in order to overcome the uncertainty of terrain and learn from the working mechanism of biological vision system in nature, the concept of sight range in path planning is proposed. With the help of spatial geometric projection method, the construction of sight range is realized, and the detection algorithm of sight range is established, which is integrated into the population initialization and mutation strategy of genetic algorithm. So that the individual population of genetic algorithm（walking path） is always in the sight range, so as to avoid the terrain obstacles naturally, ensure the feasibility of the path, do not need to design repair operator, reduce the complexity of the algorithm. The simulation results show that the optimal path length obtained by the former can be reduced by 18.7% on average, and the solution performance and efficiency are higher. This provides some new ideas and methods for the combination of bionics and modern swarm intelligence algorithm.

Key words: three-dimensional terrain, path planning, geometric projection, sight range, genetic algorithm