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In the face of increasing demands for tasks such as mountain rescue, geological exploration, and military operations in complex wilderness environments, planning an efficient walking route is crucial. To address the inefficiency of traditional two-dimensional path planning, this paper proposes a two-stage path planning algorithm. First, an improved Probabilistic Roadmap (PRM) algorithm is used to quickly and roughly determine the initial path. Then, the morphological dilation is applied to process the grid points of the initial path, retaining the surrounding area of the initial path for a precise positioning of the search range. Finally, the idea of the A∗ algorithm is applied to achieve precise path planning in the refined search range. During the process of constructing the topology map, we utilized parallelization acceleration strategies to expedite the graph construction. In order to verify the effectiveness of the algorithm, we used terrain data to construct a wilderness environment model, and tests were conducted on off-road path planning tasks with different terrains and distances. The experimental results show a substantial enhancement in the computational efficiency of the proposed algorithm relative to the conventional A∗ algorithm by 30 to 60 times. [ABSTRACT FROM AUTHOR]

In efforts to improve regional ecosystem service functions, coordinate land development and ecological conservation, and establish a reference for optimizing land resource allocation and policy formulation to cope with climate change, it is critical to investigate the spatial distribution of land use/cover change (LUCC) and ecosystem services (ESs) under future climate change. This study proposes a framework based on the Shared Socioeconomic Pathway and Representative Concentration Pathway (SSP-RCP), integrating the patch-generating land use simulation (PLUS) model and the integrated valuation of ecosystem services and tradeoffs (InVEST) model to analyze the spatial agglomeration of ESs, to analyze the importance of each driving factors. The results of the study show as follows: (1) the combination of CMIP6 and PLUS models can effectively simulate land use with an overall accuracy of 0.9379. (2) In spatial correlation, ESs show good clustering in all three future scenarios, with similar distribution of cold hotspots in the SSP126 and SSP245 scenarios. Hotspots are more dispersed and cold spots are shifted to the west in the SSP585 scenario. (3) GDP is an important factor in carbon storage and habitat quality, and precipitation has a greater impact on soil retention and water production. Overall, ESs can be increased by appropriately controlling population and economic development, balancing economic development and ecological protection, promoting energy transition, maintaining ecological hotspot areas, and improving cold spot areas. [ABSTRACT FROM AUTHOR]