中文摘要：

以栅格为环境表达方式的数字地图的路径消耗是离散的,为实现航行器的低耗、平滑路径规划目标,将Field D＊算法应用到以栅格为基础的路径规划上,实现了在路径消耗上的最优。提出一种综合环境信息情况的路径平滑方法,并将该平滑方法应用到Field D＊计算的路径上。该平滑方法在满足航行器拐弯半径的同时,使路径在折点处实现平滑过渡,并实现平滑路径偏差据计算路径最少。在以栅格法建立起的数字地图中进行仿真验证,并将该方法平滑后的路径在与用Field D＊计算所得的路径相比,设计路径更为平滑、路径消耗更少、路径误差更少。

英文摘要：

The representation of the digital map based on the uniform grids is discrete,and to satisfy the purpose of the path planning of the vehicle is to design the path which is smooth and least consumptive.The algorithm Field D＊ was introduced into the planning which realized the optimization in the cost of path,and then one way of smoothing was proposed which integrated the information of environment and applied to the path designed by the Field D＊ algorithm,and this method could make the path transit the breakpoint smoothly which satisfied the turning radius and least deviation from the designed path.Through the test of simulation in the raster digital map,this way could make the optimization in the field of smoothness,cost and max error compared with the path designed from the Field D＊ algorithm.