Method for planning shortest path of agricultural machinery based on Dijkstra algorithm

A shortest path, agricultural machinery technology, applied in directions such as navigation calculation tools to reduce search time

Active Publication Date: 2018-03-30
LUOYANG ZHONGKE LONGWANG INNOVATION TECH CO LTD
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In this way, it is not necessary to search all the nodes, but to use the selected heuristic function to evaluate the dominant nodes, and each step can automatically select the node with the smallest estimated cost, that is, the

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  • Method for planning shortest path of agricultural machinery based on Dijkstra algorithm

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[0022] The present invention can be explained in detail through the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0023] combined with figure 1 In the method for planning the shortest path of agricultural machinery based on the Dijkstra algorithm, the application object of the present invention is agricultural machinery. First, a grid map is constructed in the operation area of ​​the farmland, and the operation area of ​​the agricultural machinery is divided into blocks in the form of a grid map. The grid width is divided according to the width of the vehicle body. According to the accuracy requirements and actual needs, the width of the body is made to be an odd multiple (2i+1) of the grid width, and i is a non-negative integer; according to the obstacle distribution of the UAV aerial survey and sensor feedback, the grid map can be divided into For safety reasons,...

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Abstract

The invention discloses a method for planning a shortest path of agricultural machinery based on a Dijkstra algorithm, and relates to a method for planning a shortest path. The method comprises the following specific operation steps of: constructing a grid map of an operation area of the agricultural machinery, the grid width being divided according to a vehicle body width; enabling the vehicle body width to be (2i+1) times the grid width according to an accuracy requirement and an actual need; dividing the grid map into a passable state and an impassable state according to unmanned aerial vehicle aerial survey and obstacle distribution fed back by a sensor; and in order to control the diffusion of optimized nodes in a reasonable range, introducing a maximum estimation value K. According to the method provided by the invention, a group of better nodes are selected and the maximum estimation K is introduced to limit the diffusion degree of the group of nodes, and the group of better nodes is taken as a vertex set of the Dijkstra algorithm, so that the search time is reduced, and meanwhile, a found path is guaranteed to be an optimal path rather than a better path.

Description

technical field [0001] The invention relates to a method for planning the shortest path, in particular to a method for planning the shortest path of agricultural machinery based on Dijkstra algorithm. Background technique [0002] As we all know, with the development of artificial intelligence, the term unmanned has gradually entered people's field of vision. The research on unmanned agriculture is an important research direction to reduce the burden on farmers and improve production efficiency; automatic navigation of agricultural vehicles is an important research direction. The most critical part of the study of automation, and when studying projects related to automatic navigation, it is often necessary to face the problem of shortest path planning. The shortest path problem is one of the hottest issues at the moment. It has been studied by various disciplines and widely used in various fields, such as: urban planning, transportation, robot path planning, vehicle routing,...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 万忠政张盈纶祝晨旭
Owner LUOYANG ZHONGKE LONGWANG INNOVATION TECH CO LTD
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