The Research On Path Planning For Vector Object

The traditional research often abstracts the research object as a particle and looks the start point and the end point as scalars to simplify the path planning problem. Although it is easier to solve the problem, the simplified particle can not exactly represent the reality any longer, as a result, this simplified model can only apply in limited scale.Because of the shortage of the traditional path planning, this article develops the traditional path planning method by planning the path for the moving object with shape and movement constrains. The features of the path planning are summarized according to the characteristics of the object with a direction, then a method of path planning for vector object is put forward. This algorithm decomposes the path into two kinds: namely main path and obstacle avoidance path. The object moves along the main path and check if collision happens step by step. If the collision happens, the object moves along obstacle avoidance path. As to the customization of the main path, the article uses tangential arc/bi-arc to describe the path. Because they are simple and smooth, the object can moves along them easily. And the article combines pre-detection for collision and precise collision detection to detect the collision after illustrating the method of collision detection. When it comes to the obstacle avoidance path, the object moves along the boundary of the obstacle until it reaches some point on the boundary, which is the visible point of object to the end position. Now the obstacle avoidance path which contains line(s) and arc(s) finishes, then a new path is produced. Repeat like this until the object reaches the goal position and direction.Finally, this article does some research on the path planning for many objects, the "Stop and Wait" strategy based on the moving object's priority is adopted to plan the path for many moving objects. When one moving object meets with another moving object, either of them will stop moving to let the other with higher priority go first, at this point, the moving object with low priority is regarded as a static obstacle.