Optimal path planning method based on stroke depth

Abstract

The invention provides an optimal path planning method based on a stroke depth, which is used for solving the technical problem of low planning efficiency of existing optimal path planning method. The method comprises the following steps: generating a stroke topology file; creating a stroke queue; calculating an adjacent stroke Hash table by a dynamic planning algorithm; acquiring the stroke depth of a target node; calculating the shortest length of a to-be-planned path; tracking from the end point back to the start point to obtain the to-be-planned path. According to the method provided by the invention, the path planning is performed based on the stroke; with the depth of the stroke as a number of turning times, the minimal number of turning times is obtained through breadth-first search; the dynamic planning algorithm is adopted for calculating the adjacent stroke Hash table of the stroke; the optimal result of current step is stored for calculation in subsequent stroke extension; the efficiency of calculating optimal solution in subsequent steps is effectively improved, and the storage space is reduced correspondingly; the path planned by the method conforms to the perceptual cognition of people on road selection, and can be applied to vehicle navigation.

Description

technical field [0001] The invention belongs to the technical field of navigation and relates to an optimal path planning method, in particular to an optimal path planning method based on link depth, which can be used for path search, resource allocation and vehicle navigation. Background technique [0002] Path planning refers to finding a collision-free path from the initial state to the target state in an environment with obstacles, based on the network topology and according to certain evaluation criteria. The path planning problem can be abstracted into the optimal path search problem in graph theory, that is, the problem of solving the optimal path of a weighted graph in graph theory. In the fields of traffic control, resource allocation, vehicle navigation, etc., the optimal routing method has increasingly become a research hotspot. [0003] The specific implementation algorithms of path planning are divided into two categories, namely traversal algorithms and heuris...

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Problems solved by technology

For example, in the National Geographic Information Science Journal, Bin Jiang proposed a shortest path planning method based on road links to obtain the least turns in the article Computing the few turn map directions based on the connectivity of natural roads. The planned path is in line with the roads people choose Perceptual cognition, but the method he proposed uses the breadth-first search algorithm when calculating the least-turning path, and saves all the searched path results for subsequent shortest path judgments, which undoubtedly retains the breadth-first algorithm The efficiency of the algorithm is low, the theoretical correctness of such path planning is beyond doubt, but the efficiency of his algorithm needs to be improved

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