CN111024073A - Combined navigation system based on night environment - Google Patents
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- CN111024073A CN111024073A CN201911391513.9A CN201911391513A CN111024073A CN 111024073 A CN111024073 A CN 111024073A CN 201911391513 A CN201911391513 A CN 201911391513A CN 111024073 A CN111024073 A CN 111024073A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention relates to a combined navigation system based on night environment, which adopts a combined navigation mode of inertia, polarization, starlight and a mileometer, fuses navigation information of a plurality of sensors under the condition that satellite navigation signals fail, and realizes autonomous navigation under an interference environment; the device consists of a night polarization measuring unit, an inertia measuring unit, a starlight measuring unit, a milemeter, an obstacle avoidance unit, a navigation data processing module, a data storage and transmission module and a power supply and voltage stabilizing module. The invention fuses the night polarization sensor and multi-source navigation information such as inertia/starlight/mileometer, improves the anti-interference capability and environmental adaptability of the navigation system, and enhances the concealment of the integrated navigation system.
Description
Technical Field
The invention relates to a combined navigation system based on a night environment, which can still maintain a certain navigation capability without information interaction with the outside under the condition that a satellite navigation system is interfered in the night environment, can realize full autonomous navigation of a carrier, and improves the concealment of the carrier.
Background
The complex application environment has increasingly enhanced requirements on autonomous navigation systems with strong anti-jamming capability, however, in view of the increasingly complex navigation environment and the defects of each navigation system, a single navigation mode can not meet the requirements any more, and a combined navigation system with strong autonomy and good concealment is developed to meet the requirements of the complex environment. Meanwhile, the navigation system with all-weather navigation capability plays an important role in improving the effective working time of the carrier, the night environment has natural concealment, and many detection means based on optics, such as vision, cannot be used. Therefore, it is important to develop a combined navigation system having a night navigation capability. At present, inertia/satellites are most widely applied to all-weather navigation systems, although the inertia navigation system has strong autonomy, errors of the inertia navigation system accumulate along with time, the inertia navigation system is not suitable for independent long-time navigation, the satellite navigation system is easy to interfere and cheat, and the inertia navigation system is easy to be influenced when flying in environments such as buildings and the like and cannot provide accurate and real navigation information, so that the use of the satellite navigation system is greatly limited. Therefore, it is an urgent need to solve the navigation technical problem to develop an autonomous integrated navigation system with night navigation capability.
Polarization navigation is an autonomous navigation mode which is emerging in recent years, and is a novel navigation method developed based on bionics, but the current research focus is concentrated in the daytime, only aiming at the daytime with strong light, and the system does not have autonomous navigation capability in a dark night environment in a weak light night environment.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the integrated navigation system based on the night environment is provided, and the night polarization sensor is fused with multi-source navigation information such as inertia/starlight/mileometer, so that the anti-jamming capability and the environment adaptability of the navigation system are improved, and the concealment of the integrated navigation system is enhanced.
The technical solution of the invention is as follows: a combined navigation system based on a night environment is composed of a night polarization measuring unit, an inertia measuring unit, a starlight measuring unit, a milemeter, an obstacle avoidance unit, an image processing unit, a microprocessor, a data storage unit, a data transmission station, a power supply module and a voltage stabilizing module. The night polarization measurement unit consists of a low-illumination CCD camera, a switching ring, a polarization wheel, a lens, a light shield and an anti-interference filter, and is connected with the image processing unit to transmit control signals and polarization data. The microprocessor is responsible for collecting data of the inertial measurement unit, the starlight measurement unit, the odometer and the obstacle avoidance unit, receiving polarization data transmitted by the image processing unit and solving navigation information. The data storage unit is used for recording navigation data in real time. The power supply module is responsible for providing stable and reliable direct current power supply for each measuring unit, and the voltage stabilizing module is responsible for converting the output voltage of the power supply module and supplying power for units such as a microprocessor.
The integrated navigation system includes: the navigation system comprises a sensor module, a navigation data processing module, a data storage and transmission module and a power supply and voltage stabilization module;
the sensor module includes: the device comprises a night polarization measurement unit, an inertia measurement unit, a starlight measurement unit, a milemeter and an obstacle avoidance unit; the night polarization measurement unit is responsible for collecting the sky polarization mode image, transmitting the image to the image processing unit for processing, and responding to a control signal transmitted by the image processing unit; the inertial measurement unit senses the angular motion and the linear motion of the carrier, is responsible for measuring angular velocity and acceleration information and transmits data to the microprocessor; the starlight measuring unit measures starlight vector information in the sky and transmits data to the microprocessor; the odometer measures the carrier speed information and transmits the data to the microprocessor; the obstacle avoidance unit is used for stopping the platform from moving when the platform approaches the obstacle, preventing the platform from impacting the obstacle and protecting the system;
the navigation data processing module comprises an image processing unit and a microprocessor; the image processing unit is responsible for sending a control signal to the night polarization measuring unit, receiving and processing polarization data sent by the night polarization measuring unit, and sending a result to the microprocessor; the microprocessor is connected with the inertial measurement unit, the starlight measurement unit, the odometer, the obstacle avoidance unit and the image processing unit and is used for receiving navigation information output by the inertial measurement unit, the starlight measurement unit, the odometer, the obstacle avoidance unit and the image processing unit, analyzing and processing data of each navigation parameter measurement unit through a preset navigation algorithm, and fusing to obtain navigation data required in the carrier navigation process;
the data storage and transmission module is used for storing navigation data information from the microprocessor measured in the movement process and realizing information interaction between the integrated navigation system and the outside;
the power supply and voltage stabilizing module provides power supply and stable voltage for each unit.
The microprocessor is used for receiving navigation data output by the inertial measurement unit, the starlight measurement unit, the odometer, the obstacle avoidance unit and the image processing unit, fusing starlight vector information output by the starlight measurement unit, angular velocity information output by the inertial measurement unit and polarization information output by the image processing unit to obtain carrier attitude information, fusing acceleration information output by the inertial measurement unit and carrier velocity information output by the odometer to obtain velocity and position information of the carrier, and fusing obstacle information output by the obstacle avoidance unit with current velocity and position information to obtain safety information of the current position of the carrier.
The night polarization measurement unit is designed into a polarization measurement structure under a low-illumination environment and comprises a low-illumination CCD camera, a switching ring, a polarization wheel, a lens hood and an anti-interference filter, wherein the lens hood is used for shielding stray light in the environment and reducing the influence of the stray light on collected sky polarization data; the lens hood is directly sleeved on the lens, the lens and the polarizing wheel are connected through the adapter ring, the lens and the adapter ring are connected through threads, the adapter ring is connected with the polarizing wheel through threads, the polarizing wheel and the low-illumination CCD camera are connected through threads, and the anti-interference filter is connected with an output circuit of the low-illumination CCD camera and used for filtering out high-frequency noise in an image.
The integrated navigation system based on the night environment is characterized in that: the polarizing wheel structure is provided with four polarizing plates with different polarization directions and an unpolarized plastic sheet; the polaroid is used for collecting sky polarized light in different polarization directions, the non-polarized plastic sheet is used for calibrating the polarization direction of the polaroid and is used as a light intensity reference value, and the different polarization directions refer to the transmission polarization directions of the polaroid and the included angles from the center of the polaroid to the center of the circular filter wheel, and are respectively 0 degree, 45 degrees, 90 degrees and 135 degrees.
The data storage and transmission module comprises a data transmission radio station and a data storage unit; the data transmission radio station is used for communicating with external equipment, and the data storage unit is used for recording navigation data in real time; the data storage unit consists of NAND FLASH and TF cards, NAND FLASH is an onboard data storage, stored data can still be reserved even when power is down, direct reading and writing of a microprocessor are facilitated, the capacity of the microprocessor is smaller than that of the TF cards, the data storage is binary, the data need to be sent by a data transmission radio station and analyzed by an upper computer at a computer end, and a bad block exists after long service time, so that in order to increase the reliability of the memory and increase the storage capacity, the TF cards are additionally added and used for storing data in formats such as binary and character strings, the operation is convenient, original data or analyzed data solved by the microprocessor can be directly stored, but the reading and writing speed and the transmission speed are low, and the instantaneity is worse than NAND FLASH.
The power module consists of a 12V lithium battery and a current-limiting protection board, and the current-limiting protection board limits the discharge current of the 12V lithium battery and prevents the current connected to the sensor from being overlarge; the voltage stabilizing module consists of an anti-reverse connection circuit and a voltage stabilizing circuit, the anti-reverse connection circuit is the front end part of the voltage stabilizing circuit and can prevent the positive electrode and the negative electrode of a power supply from being reversely connected and prevent the voltage stabilizing circuit from being burnt out to cause the system to be incapable of supplying power, the voltage stabilizing circuit is used for stably outputting 3.3v voltage to supply power to the whole system and convert the voltage output by the power supply module to meet the power supply requirements of other units.
Compared with the prior art, the invention has the advantages that:
(1) the invention fuses the night polarization sensor with multi-source navigation information such as inertia, starlight, mileometers and the like, can be used for the failure condition of a satellite navigation system, improves the autonomy and the anti-interference capability of the integrated navigation system, improves the environment adaptability of the navigation system and enhances the concealment of the integrated navigation system.
(2) The invention designs a bionic inertia/polarization/starlight/mileometer combined navigation system based on a CCD camera sensitive to low illumination, and can collect night sky polarization mode.
Drawings
FIG. 1 is a block diagram of the present invention.
In the figure: the device comprises a low-illumination CCD camera 1, an adapter ring 2, a polarizing wheel 3, a lens 4, a light shield 5, an anti-interference filter 6, a night polarization measuring unit 7, a sensor module 8, an ultrasonic sensor module 9, an infrared sensor module 10, an obstacle avoidance unit 11, a odometer 12, a starlight measuring unit 13, an inertia measuring unit 14, an image processing unit 15, an ATSAMV71Q 2016, a microprocessor 17, a navigation data processing module 18, a power supply and voltage stabilizing module 19, an anti-reverse connection circuit 20, a voltage stabilizing circuit 21, a voltage stabilizing module 22, a current limiting protection board 23, a 12V lithium battery 24, a power supply module 25, a data storage and transmission module 26, TF cards 27 and NAND FLASH28, a data transmission radio station 29 and a data storage unit 30.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, the present invention relates to a combined navigation system based on a night environment: the method adopts a combined navigation mode of inertia, polarization, starlight and a milemeter, and fuses navigation information of a plurality of sensors under the condition of satellite navigation signal failure to realize autonomous navigation in an interference environment;
the integrated navigation system includes: the navigation system comprises a sensor module 8, a navigation data processing module 18, a data storage and transmission module 26 and a power supply and voltage stabilization module 19;
the sensor module 8 includes: the system comprises a night polarization measurement unit 7, an inertia measurement unit 14, a starlight measurement unit 13, a milemeter 12 and an obstacle avoidance unit 11; the night polarization measurement unit 7 is responsible for collecting the sky polarization mode image, transmitting the image to the image processing unit 15 for processing, and responding to a control signal transmitted by the image processing unit 15; the inertial measurement unit 14 senses the angular motion and the linear motion of the carrier, is responsible for measuring angular velocity and acceleration information, and transmits data to the microprocessor 17; the starlight measuring unit 13 measures the starlight vector information in the sky and transmits the data to the microprocessor 17; the odometer 12 measures the carrier speed information and transmits the data to the microprocessor 17; the obstacle avoidance unit 11 is used for stopping the platform from moving when the platform approaches an obstacle, preventing the platform from impacting the obstacle, and protecting the system;
the navigation data processing module 18 comprises an image processing unit 15 and a microprocessor 17; the image processing unit 15 is responsible for sending a control signal to the night polarization measuring unit 7, receiving polarization data sent by the night polarization measuring unit 7, processing the data, and sending the result to the microprocessor 17; the microprocessor 17 is connected with the inertial measurement unit 14, the starlight measurement unit 13, the odometer 12, the obstacle avoidance unit 11 and the image processing unit 15, and is used for receiving navigation information output by the inertial measurement unit 14, the starlight measurement unit 13, the odometer 12, the obstacle avoidance unit 11 and the image processing unit 15, analyzing and processing data of each navigation parameter measurement unit through a preset navigation algorithm, and fusing to obtain navigation data required in the carrier navigation process;
the data storage and transmission module 26 comprises a data transmission radio station 29 and a data storage unit 30, and is used for storing navigation data information from the microprocessor 17 measured in the movement process and realizing information interaction between the integrated navigation system and the outside;
the power and voltage regulation module 19 provides power and regulated voltage for each unit.
The microprocessor 17 comprises an ATSAMV71Q 2016 chip and peripheral circuits, the working frequency of the ATSAMV71Q 2016 chip can reach 300M, a floating point operation unit is embedded to meet the requirement of high-speed processing, and the ATSAMV71Q 2016 chip contains abundant external interfaces and is communicated with all modules in the integrated navigation system. The microprocessor 17 is configured to receive navigation data output by the inertial measurement unit 14, the starlight measurement unit 13, the odometer 12, the obstacle avoidance unit 11, and the image processing unit 15, fuse starlight vector information output by the starlight measurement unit 13, angular velocity information output by the inertial measurement unit 14, and polarization information output by the image processing unit 15 to obtain carrier attitude information, fuse acceleration information output by the inertial measurement unit 14 and carrier velocity information output by the odometer 12 to obtain velocity and position information of a carrier, and fuse obstacle information output by the obstacle avoidance unit 11 with current velocity and position information to obtain safety information at the current position of the carrier. And establishing a state equation by taking the error quantity of the inertia measurement unit 14 as a state quantity of the integrated navigation system, and performing optimal estimation on the system state by taking the obtained attitude information, speed information and position information as observation data output by the integrated navigation system, so as to estimate the real motion information of the carrier.
The night polarization measurement unit 7 is designed into a polarization measurement structure under a low-illumination environment and comprises a low-illumination CCD camera 1, a switching ring 2, a polarization wheel 3, a lens 4, a light shield 5 and an anti-interference filter 6, wherein the light shield 5 is used for shielding stray light in the environment and reducing the influence of the stray light on collected sky polarization data, the lens 4 is used for refracting ambient light onto the CCD, the polarization wheel 3 is used for rotating polarization plates in different directions to a specified position, and the low-illumination CCD camera 1 is used for collecting image data on the CCD; the lens hood 5 is directly sleeved on the lens 4, the lens 4 is connected with the polarizing wheel 3 through the adapter ring 2, the lens 4 is connected with the adapter ring 2 through threads, the adapter ring 2 is connected with the polarizing wheel 3 through threads, the polarizing wheel 3 is connected with the low-illumination CCD camera 1 through threads, and the anti-interference filter 6 is connected with the output circuit of the low-illumination CCD camera 1 and used for filtering out high-frequency noise in images.
The polarizing wheel structure is provided with four polarizing plates with different polarization directions and an unpolarized plastic sheet; the polaroid is used for collecting sky polarized light in different polarization directions, the non-polarized plastic sheet is used for calibrating the polarization direction of the polaroid and is used as a light intensity reference value, and the different polarization directions refer to the transmission polarization directions of the polaroid and the included angles from the center of the polaroid to the center of the circular filter wheel, and are respectively 0 degree, 45 degrees, 90 degrees and 135 degrees.
The data storage and transmission module 26 comprises a data transmission station 29 and a data storage unit 30; the data transmission station 29 is used for communicating with external equipment, and the data storage unit 30 is used for recording navigation data in real time; the data storage unit 30 is composed of NAND FLASH28 and a TF card 27, 3628 is an onboard data storage, stored data can still be reserved when power is off, the microprocessor 17 can conveniently and directly read and write, the capacity of the data storage is smaller than that of the TF card 27, the data storage is binary, the data needs to be sent by a data transmission radio station and analyzed by an upper computer at a computer end, and a bad block exists after long service time, so that in order to increase the reliability of the memory and increase the storage capacity, the TF card 27 is additionally added and used for storing data in formats such as binary, character strings and the like, the operation is convenient, original data or analyzed data calculated by the microprocessor can be directly stored, but the reading and writing speed and the transmission speed are slow, and the real-time performance is worse than 63.
The power module 25 consists of a 12V lithium battery 24 and a current-limiting protection board 23, and the current-limiting protection board 23 limits the discharge current of the 12V lithium battery 24 and prevents the current connected to the sensor from being too large; the voltage stabilizing module 22 is composed of an anti-reverse connection circuit 20 and a voltage stabilizing circuit 21, the anti-reverse connection circuit 20 is a front end part of the voltage stabilizing circuit 21, and can prevent the anode and the cathode of a power supply from being connected reversely, the voltage stabilizing circuit 21 is burnt out, so that the system cannot supply power, the voltage stabilizing circuit is used for stably outputting 3.3v voltage to supply power to the whole system, the voltage output by the power supply module 25 is converted, and the power supply requirements of other units are met.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to those skilled in the art may occur without departing from the principles of the present invention and should be considered as within the scope of the present invention. Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (6)
1. An integrated navigation system based on a night environment, characterized in that: the method adopts a combined navigation mode of inertia, polarization, starlight and a milemeter, and fuses navigation information of a plurality of sensors under the condition of satellite navigation signal failure to realize autonomous navigation in an interference environment;
the integrated navigation system includes: the navigation system comprises a sensor module (8), a navigation data processing module (18), a data storage and transmission module (26) and a power supply and voltage stabilization module (19);
the sensor module (8) comprises: the device comprises a night polarization measuring unit (7), an inertia measuring unit (14), a starlight measuring unit (13), a milemeter (12) and an obstacle avoidance unit (11); the night polarization measurement unit (7) is responsible for collecting sky polarization mode images, transmitting the images to the image processing unit (15) for processing, and responding to control signals transmitted by the image processing unit (15); the inertial measurement unit (14) senses the angular motion and the linear motion of the carrier, is responsible for measuring angular velocity and acceleration information and transmits data to the microprocessor (17); the starlight measuring unit (13) measures starlight vector information in the sky and transmits data to the microprocessor (17); the odometer (12) measures carrier speed information and transmits the data to the microprocessor (17); the obstacle avoidance unit (11) is used for stopping the platform from moving when the platform approaches the obstacle, preventing the platform from impacting the obstacle and protecting the system;
the navigation data processing module (18) comprises an image processing unit (15) and a microprocessor (17); the image processing unit (15) is responsible for sending a control signal to the night polarization measuring unit (7), receiving and processing polarization data sent by the night polarization measuring unit (7), and sending the result to the microprocessor (17); the microprocessor (17) is connected with the inertial measurement unit (14), the starlight measurement unit (13), the odometer (12), the obstacle avoidance unit (11) and the image processing unit (15) and is used for receiving navigation information output by the inertial measurement unit (14), the starlight measurement unit (13), the odometer (12), the obstacle avoidance unit (11) and the image processing unit (15), analyzing and processing data of each navigation parameter measurement unit through a preset navigation algorithm, and fusing the data to obtain navigation data required in the carrier navigation process;
the data storage and transmission module (26) is used for storing navigation data information from the microprocessor (17) measured in the motion process and realizing information interaction between the integrated navigation system and the outside;
the power and voltage regulation module (19) provides power and regulated voltage for each unit.
2. The integrated navigation system based on night environment according to claim 1, wherein: the microprocessor (17) is used for receiving navigation data output by the inertial measurement unit (14), the starlight measurement unit (13), the odometer (12), the obstacle avoidance unit (11) and the image processing unit (15), fusing starlight vector information output by the starlight measurement unit (13), angular velocity information output by the inertial measurement unit (14) and polarization information output by the image processing unit (15) to obtain carrier attitude information, fusing acceleration information output by the inertial measurement unit (14) and carrier velocity information output by the odometer (12) to obtain carrier velocity and position information, and fusing obstacle information output by the obstacle avoidance unit (11) with current velocity and position information to obtain safety information of the carrier at the current position.
3. The integrated navigation system based on night environment according to claim 1, wherein: the night polarization measurement unit (7) is designed into a polarization measurement structure under a low-illumination environment and comprises a low-illumination CCD camera (1), a switching ring (2), a polarization wheel (3), a lens (4), a light shield (5) and an anti-interference filter (6), wherein the light shield (5) is used for shielding stray light in the environment and reducing the influence of the stray light on collected sky polarization data; lens hood (5) direct cover is on camera lens (4), connect through adapter ring (2) between camera lens (4) and bias light wheel (3), by threaded connection between camera lens (4) and adapter ring (2), by threaded connection between adapter ring (2) and bias light wheel (3), by threaded connection between bias light wheel (3) and low light CCD camera (1), interference rejection filter (6) and low light CCD camera (1) output circuit are connected for filter the high frequency noise in the image.
4. The integrated navigation system based on night environment according to claim 1, wherein: the polarizing wheel structure is provided with four polarizing plates with different polarization directions and an unpolarized plastic sheet; the polaroid is used for collecting sky polarized light in different polarization directions, the non-polarized plastic sheet is used for calibrating the polarization direction of the polaroid and is used as a light intensity reference value, and the different polarization directions refer to the transmission polarization directions of the polaroid and the included angles from the center of the polaroid to the center of the circular filter wheel, and are respectively 0 degree, 45 degrees, 90 degrees and 135 degrees.
5. The integrated navigation system based on night environment according to claim 1, wherein: the data storage and transmission module (26) comprises a data transmission station (29) and a data storage unit (30); the data transmission station (29) is used for communicating with external equipment, and the data storage unit (30) is used for recording navigation data in real time; the data storage unit (30) is composed of NAND FLASH (28) and a TF card (27), NAND FLASH (28) is an onboard data storage, stored data can still be reserved when power is down, a microprocessor (17) can conveniently and directly read and write, the capacity of the data storage unit is smaller than that of the TF card (27), the data storage is binary, the data need to be sent by a data transmission radio station (29) and analyzed by an upper computer at a computer end, and a bad block exists after the data storage unit is used for a long time, so that the reliability of the storage is improved, the storage capacity is improved, the TF card (27) is additionally added and used for storing data in formats such as binary and character strings, the operation is convenient, original data or analyzed data analyzed by the microprocessor (17) can be directly stored, but the reading and writing speed and the transmission speed are low, and the real-time performance is poorer than.
6. The integrated navigation system based on night environment according to claim 1, wherein: the power module (25) consists of a 12V lithium battery (24) and a current-limiting protection plate (23), and the current-limiting protection plate (23) limits the discharge current of the 12V lithium battery (24) and prevents the current connected to the sensor from being overlarge; the voltage stabilizing module (22) is composed of an anti-reverse connection circuit (20) and a voltage stabilizing circuit (21), the anti-reverse connection circuit (20) is the front end part of the voltage stabilizing circuit (21) and is used for preventing the positive electrode and the negative electrode of a power supply from being connected reversely and preventing the voltage stabilizing circuit (21) from being burnt out to cause that the system cannot supply power, the voltage stabilizing circuit is used for stably outputting 3.3v voltage to supply power to the whole system, the voltage output by the power supply module (25) is converted, and the power supply requirements of other units are met.
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| CN116839594A (en) * | 2023-08-29 | 2023-10-03 | 成都蓉奥科技有限公司 | Submarine global track planning method and device based on optimized bidirectional A-Star algorithm |
| CN116839594B (en) * | 2023-08-29 | 2023-11-24 | 成都蓉奥科技有限公司 | Submarine global track planning method and device based on optimized bidirectional A-Star algorithm |
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