An Improved Hierarchical Path Planning Method for Land-Air Amphibious Vehicle Based on Modal Characteristics

The Land-Air Amphibious Vehicle has the advantages of high maneuverability in the air and energy saving on the ground, playing an important role in reconnaissance, disaster relief and other tasks. Successfully completing tasks requires vehicles to have autonomous navigation capabilities, among which good path planning methods are necessary. Therefore, we propose a hierarchical planning method for the Land-Air Amphibious Vehicle which fully utilizes the modal characteristics, including modifying constraint parameters for air modes and adding terrain parameters for ground modes. The results show that the improved planning method has faster speed and shorter time, better air mobility and ground traversability.