多尺度地质力学约束与融合土壤建模的越野路径规划多级优化方法

王锐; 南洋; 陈伟涛; 王瑞禛; 陈浩; 秦绪文

doi:10.3799/dqkx.2025.179

Volume 51 Issue 6

Jun. 2026

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Article Navigation > Earth Science > 2026 > 51(6): 2407-2417

Wang Rui, Nan Yang, Chen Weitao, Wang Ruizhen, Chen Hao, Qing Xuwen, 2026. A Multilevel Optimization Framework for Off-Road Path Planning Incorporating Multiscale Geomechanical Constraints and Integrated Soil Modeling. Earth Science, 51(6): 2407-2417. doi: 10.3799/dqkx.2025.179

Citation:

Wang Rui, Nan Yang, Chen Weitao, Wang Ruizhen, Chen Hao, Qing Xuwen, 2026. A Multilevel Optimization Framework for Off-Road Path Planning Incorporating Multiscale Geomechanical Constraints and Integrated Soil Modeling. Earth Science, 51(6): 2407-2417. doi: 10.3799/dqkx.2025.179

Citation:

Wang Rui, Nan Yang, Chen Weitao, Wang Ruizhen, Chen Hao, Qing Xuwen, 2026. A Multilevel Optimization Framework for Off-Road Path Planning Incorporating Multiscale Geomechanical Constraints and Integrated Soil Modeling. Earth Science, 51(6): 2407-2417. doi: 10.3799/dqkx.2025.179

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A Multilevel Optimization Framework for Off-Road Path Planning Incorporating Multiscale Geomechanical Constraints and Integrated Soil Modeling

doi: 10.3799/dqkx.2025.179

Wang Rui^1
,,
Nan Yang¹,
Chen Weitao^{2
,
,
,},
Wang Ruizhen¹,
Chen Hao³,
Qing Xuwen^{1, 3}

1.
Key Laboratory of Geological Survey and Evaluation of Ministary of Education, China University of Geoscience (Wuhan), Wuhan 430078, China
2.
School of Computer Science, China University of Geosciences (Wuhan), Wuhan 430078, China
3.
China Aero Geophysical Remote Sensing Center for Natural Resources, Beijing 100083, China

Received Date: 2025-07-11
Publish Date: 2026-06-25

Abstract

Abstract

Off-road path planning plays a strategically important role in special mission scenarios such as emergency rescue. However, existing algorithmic models often suffer from low accuracy in passability modeling and poor computational efficiency in complex terrains. To improve planning accuracy and efficiency, this study introduces the Soil Moisture-Strength Prediction model (SMSP Ⅱ) to estimate the rated cone index (RCI) of soil, and combines it with the vehicle cone index (VCI) to construct a traversability grid map that integrates multiple constraints and soil passability indicators. On this basis, an improved NSGA-Ⅱ algorithm is proposed, incorporating a divide-and-conquer strategy and heuristic search, and is further integrated with the Dijkstra algorithm to build a multi-level hybrid path optimization framework. Experimental results demonstrate that the proposed method improves computational efficiency by approximately 45%, enhances path passability by 2%, and reduces path length by about 2.1%, while maintaining path feasibility. The findings verify the superior performance of the proposed technical framework for off-road path planning in complex geological environments.
- off-road path planning,
- geomechanical constraints,
- soil modeling,
- NSGA-Ⅱ algorithm,
- multiscale,
- divide-and-conquer strategy,
- remote sensing

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References(53)

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A Multilevel Optimization Framework for Off-Road Path Planning Incorporating Multiscale Geomechanical Constraints and Integrated Soil Modeling

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