Global Path Planning Based on Skeleton Extraction Algorithm
نویسندگان
چکیده
Skeleton extraction algorithm can transform two-dimensional map into a skeleton diagram, which provide more convenience to global path planning of the complex map. This article first extracts skeleton extraction of the global map using the skeleton extraction algorithm and finds all paths of flat map. Based on this we can use search algorithms to search, and find a feasible path connecting starting point and target point. At last we use the optimized algorithm to find optimize the path to achieve the global path planning and optimization in the map. In the simulation, we use the complex maze of the map to validate the algorithm and the effect of it in simulation condition show the effectiveness of the algorithm.
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