Research on Global Path Planning Technology for Field Maneuver of Armored Platforms

Aiming at practical field operations for armored platforms and addressing the poor practicality of the results of traditional elevation data-based field maneuver path planning for armored vehicles due to the inadequate precision of elevation data, this paper explores the method of constructing an environmental grid map model based on vector layers of field road surfaces. By performing three-level buffer calculations on the road layers, different passability probabilities are assigned to the outer, middle, and inner layers, effectively avoiding the problem of <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$A^{*}$</tex> path planning results sticking too closely to obstacle edges. Additionally, for the A* path search strategy, a reverse search approach with the technical implementation method of traversing the open list before the close list is adopted, improving efficiency by approximately <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$2 / 3$</tex> compared to the traditional A* algorithm implementation. Furthermore, a method of updating the end node position by expanding layer by layer from the end node is employed to solve the problem of path planning failure when the end node is located on an impassable grid. Finally, the weighted recursive average filtering algorithm is applied to smooth the planning results, meeting display requirements and the needs of unmanned vehicles.