A Dual-Layer Hybrid-A* Path Planning Algorithm for Unstructured Environments Based on Phase Windows
Tianxiao Zhu, Ziyu Xu, Rujiang Zhu, Wei Zhang, Zhonghua Miao · 2025
Read A Dual-Layer Hybrid-A* Path Planning Algorithm for Unstructured Environments Based on Phase Windows by Tianxiao Zhu, Ziyu Xu, Rujiang Zhu, Wei Zhang, Zhonghua Miao (2025) in the Tower of Babel, a free online library of public-domain works preserved in clean, searchable text. No sign-up. The full text is served as a plain-text file at a predictable URL, where text is present: https://antarctic-labs.com/tower-of-babel/pmc-12787423.txt.
Description
Tianxiao Zhu, Ziyu Xu, Rujiang Zhu, Wei Zhang, and Zhonghua Miao plan robot paths that respect slopes in a 2025 engineering paper. On rough ground a shortest path can tip a robot over. Standard planners ignore how terrain tilts the body. Their two-layer algorithm refines elevation maps in a guidance layer, sharpening posture estimates with a smooth interpolation trick, then plans with a Hybrid-A* search in the layer below.
The planner switches cost functions as it goes, adjusts its step size, prunes dead ends, and activates phase windows that refine the route in stretches. Real-time feedback keeps the path honest as the ground changes. Stability-aware planning matters most where no road exists to forgive mistakes.
Catalog record
| CREATOR | Tianxiao Zhu, Ziyu Xu, Rujiang Zhu, Wei Zhang, Zhonghua Miao |
|---|---|
| YEAR | 2025 |
| COLLECTION | PAPERS |
| FORMAT | TXT |
| FILE SIZE | 61 KB |
| VERSION | 1.0 |
| LICENSE | CC BY 4.0 |
| RIGHTS | CC BY |
| SOURCE | Europe PMC |