Path planning method based on genetic algorithm

A genetic algorithm and path planning technology, applied in genetic models and other directions, can solve problems such as poor speed, poor applicability, and poor stability

Active Publication Date: 2013-09-25
ENJOYOR COMPANY LIMITED
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Problems solved by technology

[0011] In order to overcome the disadvantages of poor rapidity, poor stability and poor applicability of existing path planning methods, the present invention provides a path planning based on genetic algorithm with good rapidity, good stability and strong applicability method

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  • Path planning method based on genetic algorithm
  • Path planning method based on genetic algorithm
  • Path planning method based on genetic algorithm

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Embodiment Construction

[0063] The present invention will be further described below in conjunction with the accompanying drawings.

[0064] refer to Figure 1 to Figure 6 , a method for path planning based on genetic algorithm, said planning method comprising the following steps:

[0065] (1) Establish a path optimization mathematical model, as follows:

[0066] The path optimization problem is similar to the traveling salesman problem (TSP). Let V={1,2,3,...,n} represent the collection of nodes (intersections), where n>1 is the number of intersections; E is the collection of road sections. Suppose G=(V,E) is a graph with positive weight; edge (section) i→j is the connection between nodes i and j, and the weight is the distance d ij ; c ij Indicates its connectability, where c ij =1 means that i to j can be directly reached, c ij =∞ means that i to j are not directly reachable; x ij Indicates whether road segment i→j is included in the path.

[0067] Let G be a path from the starting point 1...

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Abstract

A path planning method based on the genetic algorithm includes the following steps: (1) establishing a path optimization mathematical model with a method, wherein the method specifically includes the steps of supposing that G is a path from the starting point 1 to the terminal point n, the path G does not include a repeated route or a round route, and the consumption of one route is the sum of weights on the route; (2) performing a path search process which specifically includes the following steps of starting from the starting point, searching for an optimized path within the range of the search radius with the genetic algorithm, moving along with a vehicle to the next node of a path obtained through the last search, taking the node as the starting point of the current search, searching out a path again on the basis of the node within the range of the search radius, and continuing to apply the method until the destination site is searched out. The path planning method based on the genetic algorithm is good in rapidity and stability and strong in applicability.

Description

technical field [0001] The invention relates to a path planning method. Background technique [0002] With the rise of online shopping and TV shopping, the logistics industry has developed rapidly, and the competition among logistics industries has also been intensified. The shortening of logistics cost and cycle mainly focuses on the optimization of the path. Choosing the optimal path has become the most urgent need for logistics enterprises. On the other hand, the rapid increase in the number of urban transport vehicles has caused a series of problems such as traffic jams, traffic accidents, and environmental pollution. Dynamic route selection is the core of urban traffic flow guidance system UTFGS (Urban Traffic Flow Guidance System). The main problem it solves is: taking real-time road condition information and traffic demand as input, and providing the most reasonable driving route for vehicles under a certain optimization goal. These problems can be described as th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06N3/12
Inventor 杜克林张标标王赟王辉王晓玲李仁旺孙安安王超群邢聪聪
Owner ENJOYOR COMPANY LIMITED
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