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Method for seeking for overall situation time optimal path under dynamic time varying environment

A time-optimized and environment-friendly technology, applied in the direction of road network navigators, measuring devices, instruments, etc., can solve the problems of search time and other problems, achieve superior solution results, and realize the effect of multi-scale navigation requirements

Active Publication Date: 2014-08-20
BEIJING JIAOTONG UNIV
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  • Abstract
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of seeking the optimal global time path in a complex dynamic time-varying environment, fully consider moving obstacles and the time-varying nature of the environment, and provide a method for seeking the optimal global time path in a complex dynamic time-varying environment. The method of optimal path, based on the present invention, can realize robot obstacle avoidance in indoor dynamic environment, search time-consuming optimal path in complex and time-varying road traffic environment, and can weigh time and space consumption to formulate according to different needs of users. Best walking route and accurate estimate of time spent

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  • Method for seeking for overall situation time optimal path under dynamic time varying environment
  • Method for seeking for overall situation time optimal path under dynamic time varying environment
  • Method for seeking for overall situation time optimal path under dynamic time varying environment

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[0041] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0042] refer to figure 1 , figure 1 It is a flow chart of the steps of the method for seeking the global time optimal path under the dynamic time-varying environment of the present invention, including the following steps: firstly, the data acquisition step: obtaining historical and real-time road condition information through the traffic monitoring platform system. It should be noted here that, This invention needs to be realized on the premise of being able to predict the environmental information in the future time period, and the function of predicting road traffic information in the future time period is provided in the existing map systems, such as Google and Baidu maps, which are also suitable for indoor scenes. The trajec...

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Abstract

The invention discloses a method for seeking for an overall situation time optimal path under a dynamic time varying environment. The method comprises the following steps: extracting environment state information; molding the space of the environment; carrying out time division on the environment according to the environment state information, namely dividing a time axis into a plurality of time intervals and utilizing time consumption to represent an environment state of each time interval; utilizing an improved A* algorithm to search the environment state to obtain the overall situation time optimal path; introducing weight to realize a multi-scale path planning aim. The method can be used for realizing the aims of obstacle avoidance of indoor robots and path optimization of the complicated time varying environment of outdoor road traffic; the weighing can be carried out between time cost and distance cost according to different requirements of users to formulate the optimal path and accurately calculate the time spent for the route.

Description

technical field [0001] The invention relates to a collision avoidance and path optimization algorithm in a dynamic environment, in particular to a method for seeking the global time optimal path in a complex dynamic time-varying environment. Background technique [0002] With the progress of society and the development of science and technology, the application fields of computers are becoming more and more extensive, among which robot research is one of the most popular topics in the field of computers. Path planning technology is an important branch in the field of robot research. The so-called path planning problem is generally understood as finding the path in an environment with obstacles according to certain evaluation criteria (such as the least work cost, the shortest walking route, and the shortest walking time, etc.). A collision-free path from a start state to a goal state. Its application fields are very wide, such as: path planning for robot pathfinding and obs...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/34
CPCG01C21/206G01C21/3446
Inventor 邢薇薇魏翔卢苇刘渭滨
Owner BEIJING JIAOTONG UNIV
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