基于空间离散的最短路径求解法及其局部优化方法

提出了一种基于空间离散的最短路径求解法，该法利用复杂表面的空间离散信息，从已知的两点中估算与其相连的一点的距离，递推式求取一点与其他点之间的最短距离。计算获得了各点与起点和终点的距离后，再把它们相加，依据与起点的距离的大小，顺序把距离和最小的结点连接起来，这样获得了最短路径的邻域路径，然后对最短路径的邻域路径的各点进行迭代式更新，从而获得局部优化，最终获得最短路径。经过对例子的计算及分析，表明该方法普适性强、可靠及有效。

GLOBAL PATH PLANNING AND ITS LOCAL OPTIMIZATION METHOD BASED ON SPACE DISCRETIZETION

The authors proposed a method to solve the global path planning and locally optimize the path. With the method, the shortest distance of one node is estimated by the shortest distance of two neighbor nodes and its geometric information, then the shortest distance of all nodes is calculated step by step. If the amount of distances from start node to node A and from end node to node A is minimal, Node A is regarded as near shortest path. The neighbor path of shortest path is shaped by sequentially linking all the nodes near the shortest path. The final shortest path is obtained by optimizing the neighbor path. The local optimization is conducted by the adjustment of path point depended on the point's upstream and downstream points. The results shown that the method is efficient, adaptive and reliable.