Hiking path planning algorithm based on dynamic parameters and heuristic information for complex field comprehensive terrain

Abstract

The paper focuses on the problem of hiking path planning in complex and comprehensive terrains and establishes a Fast Marching method (DH-FM2) based on heuristic information and dynamic parameters. This method inventively considers the path’s safety, smoothness, and heuristics to meet the needs of dynamic path planning. In data processing, we do a correlation analysis of the elements affecting traversing resistance of the path planning process and filters them to remove relevant features. The algorithm establishes a path evaluation function and optimizes the value of the function by Monte Carlo simulation to determine the coefficients of the TR function. Besides, we consider several types of land cover such as existing roads to fit the actual situation in the field. The result of simulation shows that the DH-FM2 algorithm can dynamically adjust parameters according to different path planning requirements to generate a path meeting the user’s requirements. The DH-FM2 algorithm spends shorter time than the FM algorithm on the premise of the same time complexity. Overall, the DH-FM2 method is reliable and efficient.