Path planning method of passable area divided at unequal distance

A technology of traffic area and path planning, which is applied in the directions of measuring devices, instruments, surveying and mapping, and navigation, etc., which can solve the problems of large time complexity and space complexity, and achieve the effect of improving time complexity and space complexity

Inactive Publication Date: 2014-01-22
ZHONGBEI UNIV
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Problems solved by technology

[0003] In order to solve the large time complexity and space complexity of the existing planning algorithm, the present invention proposes a path (or track) planning method based on unequal division of the passable area

Method used

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  • Path planning method of passable area divided at unequal distance
  • Path planning method of passable area divided at unequal distance
  • Path planning method of passable area divided at unequal distance

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Embodiment Construction

[0037] The specific embodiment of the present invention will be further described in conjunction with the accompanying drawings.

[0038] 1) Obstacle modeling

[0039] Since the outer edge of the obstacle is a continuous smooth curve, it can be simulated by using a fitting curve, using a Bezier curve. When drawing a Bezier curve, the position vector of the control point should be decomposed into two-dimensional plane x , y The component of the direction, the expression can be expressed as:

[0040] (Formula 1)

[0041] (Formula 2)

[0042] Formula 1 and Formula 2 are the horizontal and vertical coordinates on the fitting curve. in formula 1 x 0 , x 1 , x 2 , x 3是 The abscissa of the four input control points; similarly, in formula 2 y 0 , y 1 , y 2 , y 3 The ordinate of the corresponding control point. t is an incremental step size, with t The change of , can calculate the abscissa and ordinate of all the points that m...

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Abstract

The invention belongs to the technical field of path or flight path planning of robots as well as low-altitude flight aircrafts, specifically relates to a path planning method of a passable area divided at unequal distance, and is used for solving the problem that existing planning algorithm has large time complexity in time and space complexity. The path planning method comprises the following steps of: calculating convex extreme points of each barrier curve; dividing the passable area by using each convex extreme point as a horizontal line; abstracting each small area obtained by dividing into a peak of a graph; forming an undirected graph by all peaks; finding out a peak serial number corresponding to the small area at which a starting point and a final point are located; finding out all paths for the undirected graph by breadth-first or depth-first scanning; finding out an actual to-be-travelled path of a moving object according to the situation on an actual map. The path planning method disclosed by the invention has the beneficial effect of overcoming the problems of algorithms of A* and the like on memory space and operation time, and overcoming a convergence problem of an ant colony algorithm at the same time. Besides, time complexity and space complexity are improved greatly in comparison with other algorithms.

Description

technical field [0001] The invention belongs to the technical field of path or track planning for robots and low-flying aircraft, and in particular relates to a path planning method for dividing a passable area by unequal distances, which is used for path planning on a map with obstacles. Background technique [0002] Since the path or track planning problem is generally an NP-hard problem, that is to say, there is no polynomial time algorithm for calculating the optimal solution. At the same time, during the actual flight of the aircraft, the trajectory is calculated according to the change of time and the change of threats and obstacles. algorithm is more complex. Such as A* algorithm, ant colony algorithm, simulated annealing, tabu search algorithm, genetic algorithm, particle swarm optimization algorithm, genetic algorithm, etc., they all have their own advantages and disadvantages. The A* algorithm is a heuristic algorithm that does not need to traverse the map...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/005G01C21/20
Inventor 潘广贞于一乔慧芬
Owner ZHONGBEI UNIV
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