Wilderness path planning based on continuous road network environment

In order to improve the feasibility and safety reliability of the movement of the planning subject in the wilderness environment, and solve the problems of the usually discontinuous road network environment and the general uncalculated size of the subject, the path planning algorithm based on the continuous road network environment is proposed. Firstly, according to the environment information and subject size, the fusion expansion strategy is used to construct the model continuous environment with subject objective (MCESO); then the road network priority strategy (RNP) is adopted; finally the classical A* algorithm is taken as an example, the above model is fused and improved, and a path planning MCESO-RNP-A* algorithm is proposed. Simulation results show that the modeling scheme and planning algorithm can enable the subject objective to reach the target point specified in the planning smoothly in the continuous road network environment, and the time to generate the path can be reduced by about 30% compared with the MCE-A* algorithm in a large range environment, which verifies the feasibility and effectiveness of the algorithm.