It is difficult to meet both direction and curvature constraints for traditional Fast Marching (FM) method in path
planning. Based on adjusting the cost function in Eiknoal equation-the control equation for FM, a new model for
computing the integrated cost function was presented in this paper. A relationship formula about curvature radius was
obtained and three kinds of adjusting strategies were given; two of them were used to modify the route to meet with the
requires of turning constraint in this paper. Experiments showed that the improved model can be used to plan the path
with FMM for agent such as unmanned aerial vehicle (UAV) or robot, which is limited to pass through the scene
matching areas. And our preliminary experiments demonstrated that the strategies are feasible and efficient to obtain
path with certain curvature radius. The model can also be used to represent the problem such as an aircraft flying in a
flow field.
Traditional path planning methods are too slow to meet the real-time requirement in practical applications. In order to
solve this problem, an idea of path net was proposed in this paper. The path planning procedure is divided into two steps:
network segment planning and segment assembling. The first step was done with Fast Marching Method, including port
selection of segment and network segment planning. Second step, the A* searching method was chosen to select
segments for assembling. Experiments demonstrated that our method can obtain an optimal route in a few of seconds
after the start and goal are given while several minutes are needed for traditional methods.
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