Heuristic search method of shortest path problems based on place learning effect

A heuristic search, shortest path technology, applied in the field of artificial intelligence, can solve problems such as the shortest path of robots

Inactive Publication Date: 2017-05-31
SOUTHEAST UNIV
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Problems solved by technology

[0008] Purpose of the invention: the present invention proposes a heuristic search method with an accurate solution of the shortest path problem based on the position learning effect to solve the robot shortest path problem based on the position learning effect

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  • Heuristic search method of shortest path problems based on place learning effect
  • Heuristic search method of shortest path problems based on place learning effect
  • Heuristic search method of shortest path problems based on place learning effect

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Embodiment Construction

[0042] The technical scheme of the present invention is described in detail below in conjunction with accompanying drawing:

[0043] In scenarios such as robot soccer games, robot space exploration, and robot rescue in complex environments, robots with learning capabilities need to find the fastest path from a certain location to the target location, that is, a path with the least cost. A kind of heuristic search method with the exact solution of the shortest path problem based on position learning effect of the present invention, such as figure 1 shown, including the following steps:

[0044] Step s101: Collect map information to obtain a directed graph G=, where N represents the set of all nodes in the graph G, A represents the set of all arcs in the graph G, then |N| represents the graph The number of nodes in the middle, |A| indicates the number of arcs in the graph, c(n,n * ) means nodes n to n * The cost of the arc between;

[0045] Step s102: Determine the learning ...

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Abstract

The invention relates to a heuristic search method with exact solutions to shortest path problems based on place learning effect, in particular to a robot path planning method. In finding a shortest path, a robot interacts with an environment to acquire experiences through reinforcement learning, which means the robot may acquire a same path at very low cost; therefore, in such case, the shortest path may be different from a shortest path with no learning effect. In order to solve the problem, after the robot acquires external environmental information and determines a learning effect function according to priori knowledge, pruning operation and filtering operation satisfactory to this problem are designed through heuristic information to eliminate in advance part of the paths which are determined not likely to present on the shortest path, the search process is accelerated, and the robot may find an exact global shortest path within reasonable effective time to guide its travelling.

Description

technical field [0001] The invention relates to an accurate solution method for a shortest path problem based on a position learning effect, belongs to the field of artificial intelligence, and in particular relates to a robot path planning method. Background technique [0002] The shortest path problem is widely used in practical fields, such as: logistics, transportation, robot path planning, vehicle routing, etc. The shortest path problem is to find the shortest path from the start point to the end point in a graph. Generally speaking, the distance, time, or traversal cost of each arc is called the cost. Usually, there are many paths from the start point to the end point in the graph, and the shortest path is the path with the smallest total cost. If the cost of each arc is known in advance, the problem is a static shortest path problem. If the cost of each arc changes according to some factors (eg, traffic conditions, learning experience), this type of problem belongs ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06Q10/04G06N99/00
CPCG06N20/00G06Q10/047
Inventor 李小平王亚敏潘光磊王爽陈龙
Owner SOUTHEAST UNIV
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