A SDM Design Algorithm Based on the Gird Map

摘要

A new global path planning method - the Steepest Descend Method (SDM), which is suitable to the grid map, is introduced according to the global path planning. It uses the principle of the shortest line between two points as the heuristic information to propagates distances through free cells from the start cell and forms a different gradient around it. With the idea of the first search greed best, the shortest path back to the start point is traced by walking downhill via the steepest descent path from the goal cell. The superiority of SDM are as follows: less storage space, fast planning speed, and can be extended easily. It can meet the requirement of real-time planning for the mobile robot.