Method and system for decomposing cross-domain path planning of amphibious vehicle

A system for decomposing cross-domain path planning of an amphibious vehicle, comprising:

• a unit for defining a starting point and a target point and constructing a candidate set of land-water transition points configured to acquire an amphibious map containing coastline information, determine a starting point and a target point of a cross-domain path planning task of an amphibious vehicle based on the amphibious map, and construct a candidate set of land-water transition points, wherein the coastline information comprises several pieces of feasible land-water transition region position information;
• a search range determining unit configured to set a multilevel gradient search range on a coastline, and set a set number of iterations for each search range;
• a unit for determining a locally-optimal land-water transition point configured to search from each search range based on the set number of iterations in a level-wise search mode, determine a locally-optimal land-water transition point in each search range, and add the locally-optimal land-water transition point into the candidate set of land-water transition points;
• a unit for determining a globally-optimal land-water transition point configured to set a heuristic search termination condition, and determine, based on the heuristic search termination condition, whether there is a possibility that a current locally-optimal land-water transition point is globally optimal;
• further configured to stop searching when there is a possibility that a current locally-optimal land-water transition point is globally optimal, and select a globally-optimal land-water transition point from the candidate set of land-water transition points;
• further configured to determine, when there is no possibility that a current locally-optimal land-water transition point is globally optimal, whether the multilevel gradient search range is completely traversed;
• further configured to stop searching when the multilevel gradient search range is completely traversed, and select a globally-optimal land-water transition point from the candidate set of land-water transition points;
• and
• further configured to continue to traverse, when the multilevel gradient search range is not completely traversed, the multilevel gradient search range until the globally-optimal land-water transition point is determined;
• and
• a global path planning unit configured to redetermine the starting point and the target point of the cross-domain path planning task based on the globally-optimal land-water transition point, and perform global path planning.