Three-dimensional space path planning method based on movement property of elastic rope

Abstract

The invention provides a three-dimensional space path planning method based on the movement property of an elastic rope, which comprises the steps of: initializing a retrieving environment and a parameter, computing the displacement of a point on the elastic rope due to the action of the elastic rope; computing the displacement of the point on the elastic rope due to the action of the elastic rope and a barrier; computing a position after movement; judging whether all points on the elastic rope move once, judging whether the elastic rope reaches a balance position and the like. The three-dimensional space path planning method based on the movement property of the elastic rope, provided by the invention, has the advantages of small operation quantity, high routing speed and simple environment expression relative to other path planning methods; only a normal direction that the surface of the barrier points to the outer part of the barrier is known; a space is not divided into the form of cells; and a found path has better smoothness and accuracy.

Description

technical field [0001] The invention belongs to the technical field of computing intelligence, and proposes a three-dimensional space path planning method by simulating the movement of a space elastic rope in an obstacle environment. Background technique [0002] With the development of sea and air business, people pay more and more attention to 3D path planning, which plays a vital role in the effective use of resources and time. However, most of the existing path planning methods are proposed for two-dimensional space, and most of the existing three-dimensional space path planning methods are the promotion of two-dimensional methods to three-dimensional methods. Many problems will inevitably be brought about in the promotion process, such as the artificial potential field method, A* search method, case-based reasoning method and genetic algorithm for the three-dimensional space path planning methods that have been adopted, among which the potential field method will inevit...

AI Technical Summary

Problems solved by technology

However, most of the existing path planning methods are proposed for two-dimensional space, and most of the existing three-dimensional space path planning methods are the promotion of two-dimensional methods to three-dimensional methods. Many problems will inevitably be brought about in the promotion process, such as the artificial potential field method, A* search method, case-based reasoning method and genetic algorithm for the three-dimensional space path planning methods that have been adopted, among which the potential field method will inevitably fall into the Local minimum, and when complex optimization criteria are used, the potential field method cannot be directly extended; the A* algorithm can be used for high-dimensional problems, but with the increase of the dimension, the space-time requirements of the A* algorithm will be difficult to be satisfied ; The case-based reasoning method adjusts the path according to local obstacles, and sometimes cannot obtain the global optimal path; the genetic algorithm uses a random method to generate the initial path, and uses the genetic operator to continuously improve the path

Images