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中文摘要：
针对M-A＊在分区过程中不考虑地形分布并且形成的抽象图节点较多等问题,提出了一种考虑地形分布的多尺度分解路径规划加速方法（MTD-A＊）,用以快速寻找地图上两个指定点之间的最短路径.该算法在形成抽象图过程中,对于大面积的无障碍分区不再进行细分,简化了抽象过程;在空白分区细化实际路径时,利用Bresenham直线算法代替A＊寻路,加速了寻路过程.实验结果表明,与M-A＊相比,该算法形成抽象图时间更短、抽象图节点数更少、搜索速度更快.
英文摘要：
The algorithm of M-A＊does not consider the topographic distribution in the partitioning process and there are many abstract nodes in the generated abstract graph.To address these problems,an accelerated method based on multiscale decomposition algorithm（ MTD-A＊） is proposed and is used to find the shortest path between two specified nodes quickly.When forming an abstract graph,the algorithm will not divide the nonobstacle regions,which simplifies the process of abstraction.In addition,when MTD-A＊refines the abstract path to an actual path,the Bresenham linear algorithm is used instead of A＊to find the path in the nonobstacle partition,which accelerates the on-line path planning process.Experimental results show that MTD-A＊can reduce the search space and therefore is faster than M-A＊in forming abstract graph as in on-line path planning.
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