基于引力势能修正的快速行进树路径规划算法

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关键词：FMT*算法；人工势场法；引力势能修正；路径规划

中图分类号：TP301.6 文献标志码：A 文章编号：1001-3695（2025）08-022-2416-05

doi：10.19734/j. issn.1001-3695.2024.11.0478

Fast marching tree algorithm based on gravitational potential energy correction

Xu Zhengyu1，²，Jia Xiaolin ，Gu Yajun1，²，Yuan Lei1，2 （1.Schoolofopueiece&hooustUiestfSiee&holngSun6haeI ternetofThings&RadioFrequencyIdentficationTechnologyKeyLaboratoryofMianyang，MianyangSichuan61ooChina）

Abstract：Toaddress theisuesofredundant exploration，long planning time，andnumerous turning points inmobilerobot path planning usingtheFMT”algorithm，thispaperproposedaGPE-FMT*algorithm.This algorithmdrewfromtheconceptof artificialpotentialfieldsyintroducingfinitegaviationalpotentialeergyfieldtoostraiteexplorationange，ffectiely reducingredundantsearches.Aditionally，itemployedapath treecorrction strategyasedon gravitational potential energy values to guidethe growth directionofthe pathtreeduring itsexpansion，moving itclosertothetargetandthus reducing turning pointsandshortening planing time.Simulationresults demonstratethat，under equivalentcomputationalresources， GPE-FMT*significantlydecreasespath planningtime，reduces the numberof turning points，and lowers the numberof algorithm iterations，ultimately enhancing path quality.

Key Words：FMT*algorithm；artificial potential field method；gravitational potential energy corrction；path planning

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