PATH PLANNING BASED ON FORCE FLOW AND FINITE ELEMENT METHOD

This paper proposes a path planning method based on force flow and finite element method to address the challenges of global path planning in complex environments. The map is treated as a truss structure composed of bar elements, static constraints and interaction forces are applied at the starting and ending points. The avoidance of obstacles and path planning issues are resolved by capturing the force flow from point to point. The transfer of force within the objects follows the principle of the shortest path, ensuring that the force flow path does not deviate too far from the optimal path. Based on these principles, a path planning algorithm using bar elements is designed. The process is demonstrated in detail using a simple truss model, and the impact of the grid on computational efficiency is analyzed, proving the feasibility of the algorithm. In comparison with the A* algorithm on complex maze maps, the results indicate the advantages of this method, especially in addressing large-scale and intricate maps. The grid construction approach of the finite element method provides more flexibility than the A* algorithm, making it easier to control the computational scale.