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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 7

Fast marching tree algorithm based on gravitational potential energy correction

Xu Zhengyu1,2
Jia Xiaolin1,2
Gu Yajun1,2
Yuan Lei1,2
1. School of Computer Science & Technology, Southwest University of Science & Technology, Mianyang 621010, China
2. Mobile Internet of Things & Radio Frequency Identification Technology Key Laboratory of Mianyang (MIOT&RFID), Mianyang 621010, China
DOI: 10.19734/j.issn.1001-3695.2024.11.0478

Abstract

To address the issues of redundant exploration, long planning time, and numerous turning points in mobile robot path planning using the Fast Marching Tree (FMT*) algorithm, this paper proposed a Gravitational Potential Energy FMT* (GPE-FMT*) algorithm. This algorithm drew from the concept of artificial potential fields by introducing a finite gravitational potential energy field to constrain the exploration range, effectively reducing redundant searches. Additionally, it employed a path tree correction strategy based on gravitational potential energy values to guide the growth direction of the path tree during its expansion, moving it closer to the target and thus reducing turning points and shortening planning time. Simulation results demonstrate that, under equivalent computational resources, GPE-FMT* significantly decreases path planning time, reduces the number of turning points, and lowers the number of algorithm iterations, ultimately enhancing path quality.

Foundation Support

国家自然科学基金面上项目(61471306)
四川省自然科学基金项目(2022NSFSC0548)
绵阳市移动物联射频识别技术重点实验室专项(MYZD23032302)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.11.0478
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 7

Publish History

[2025-03-12] Accepted Paper

Cite This Article

徐正宇, 贾小林, 顾娅军, 等. 基于引力势能修正的快速行进树路径规划算法 [J]. 计算机应用研究, 2025, 42 (7). (2025-03-14). https://doi.org/10.19734/j.issn.1001-3695.2024.11.0478. (Xu Zhengyu, Jia Xiaolin, Gu Yajun, et al. Fast marching tree algorithm based on gravitational potential energy correction [J]. Application Research of Computers, 2025, 42 (7). (2025-03-14). https://doi.org/10.19734/j.issn.1001-3695.2024.11.0478. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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